Filters
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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, or low-pass 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 each filter bank are exemeplarily 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.