Filters

The information on this page refers to firmware v2.74 and higher.

The STorM32 provides a filter section to filter the gyro and accelerometer, using notch/band-cut filters.

Concept and Overview

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 finally the output of bank #2 is feed into filter bank #3. This allows for a very flexible choice of filter arrangements.

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 of the band-cut filters. “inf” results in a notch filter.

Filter Sources

Currently, the following data sources are available:

“off”	The filter bank is inactive.
“gyro1 all”	The raw data of gyro1 are filtered.
“imu1 all”