Filters: Difference between revisions
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''The information on this page refers to firmware v2.43e and higher.'' | ''The information on this page refers to firmware v2.43e and higher.'' | ||
The STorM32 provides a rich filter section to filter the gyro, accelerometer, encoder, and motor control data, using notch | The STorM32 provides a rich filter section to filter the gyro, accelerometer, encoder, and motor control data, using notch/band-cut filters. | ||
The filters are organized into three identical filter banks, which are processed in series. That is, the data are feed into filter bank #1, the output of this bank is then feed into filter bank #2, and so on. | The filters are organized into three identical filter banks, which are processed in series. That is, the data are feed into filter bank #1, the output of this bank is then feed into filter bank #2, and so on. | ||
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* {{PARAMVALUE|imu1 y}}: | * {{PARAMVALUE|imu1 y}}: | ||
* {{PARAMVALUE|imu1 z}}: | * {{PARAMVALUE|imu1 z}}: | ||
* {{PARAMVALUE|mot all}}: | * {{PARAMVALUE|mot all}}: not yet implemented | ||
* {{PARAMVALUE|mot pitch}}: | * {{PARAMVALUE|mot pitch}}:not yet implemented | ||
* {{PARAMVALUE|mot roll}}: | * {{PARAMVALUE|mot roll}}:not yet implemented | ||
* {{PARAMVALUE|mot yaw}}: | * {{PARAMVALUE|mot yaw}}:not yet implemented | ||
Revision as of 14:21, 18 October 2019
The information on this page refers to firmware v2.43e and higher.
The STorM32 provides a rich filter section to filter the gyro, accelerometer, encoder, and motor control data, using notch/band-cut filters.
The filters are organized into three identical filter banks, which are processed in series. That is, the data are feed into filter bank #1, the output of this bank is then feed into filter bank #2, and so on.
The parameters of the filter banks are exemplarily described for filter bank #1. They are
- Filter1 Source: Selects the filter source.
- Filter1 Center Frequency: Selects the center or cut-off frequency of the filter.
- Filter1 Bandwidth: Selects the bandwidth for notch or band-cut filters.
- Filter1 Attenuation: Selects the attenuation for notch or band-cut filters.
Currently, the following data sources are available:
- “off”: The filter bank is inactive.
- “gyro1 all”:
- “gyro1 x”:
- “gyro1 y”:
- “gyro1 z”:
- “imu1 all”:
- “imu1 x”:
- “imu1 y”:
- “imu1 z”:
- “mot all”: not yet implemented
- “mot pitch”:not yet implemented
- “mot roll”:not yet implemented
- “mot yaw”:not yet implemented