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Each sensor (accelerometer or gyrometer) can be independently filtered. End user shall calculate filtering coefficient.
Digital filtering is done by the product and formula is:
Product is able to filter sensor with a cut-off frequency up to 200Hz. During filtering coefficient calculation, end user
should take into account the sensor sampling frequency of 1kHz.
After filtering coefficient calculation, user should update the following other parameters:
FilterCoeffEnXXXXXUser[] : Filtering coefficient En. Table index 0 is En coefficient, index 1 is En-1 coefficient,...
etc.
FilterCoeffSnXXXXXUser[]: Filtering coefficient Sn. Table index 0 is Sn coefficient, index 1 is Sn-1 coefficient,...
etc.
FilterBandwidthXXXXXUser : Cut-off frequency in Hz. Should be lower or equal to 200Hz.
FilterOrderXXXXXUser : Filter order. Should be lower or equal to 6.
Note: XXXXX represents the sensor the user wants to setup. It is equal to GyroX, GyroY, GyroZ, AcceleroX, AcceleroY
or AcceleroZ.
User RAM data
User can read data into RAM (described in §
command).
Values are from different types:
Filtered sensor values: These values are in sensor unit (g for accelerometer, °/s for gyrometer, ° for pitch and roll
tilt)
Internal temperature sensor: Internal sensor temperature value (in °C).
Sensor serial number: Internal sensor serial number, for traceability purpose.
Product status: Set of bits indicating state of each internal sensor. Fully described below.
Embedded software revision: Product software revision.
Product status:
Product status (field SystemErrors in §
Bit index
0
1
2
3
4
5
6
7
KalmanFilterOverRange
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document de s'assurer que le transfert ou l'utilisation des données qu'il contient est conforme à toutes les règles de contrôle des exportations en vigueur.
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Meggitt (Sensorex) se réserve le droit de modifier la présente notice sans préavis/ Meggitt (Sensorex) reserves the right to change the specification without any prior notice
NOTICE D'INSTRUCTION / INSTRUCTION MANUAL
NOT043045InterfaceProductB0
S
=A
E
+ A
E
+...+A
n
n
n
n-1
n-1
5 ) by a Read RAM command described in §
5 ) is a set of bits with the following signification:
Designation
BitOut
Sbit
OverTemp
CalibMode
OverRange
Autonull
Uncalibrated
E
- (B
S
+B
0
0
n-1
n-1
0 : No default
1 : at least 1 default (bit xxxxfault) is detected
0 : Startup Built In Test terminated
1 : Startup Built In Test processing
0 : Temperature in range [MIN ;MAX]
1 : Temperature out of range [MIN ;MAX]
0 : User mode
1 : Calibration mode
0 : All sensors values are in their respective range
1: At least one sensor value is out of range. Out of range sensor is
signalled by bit xxxEvent set to 1.
0 : No autonull value set
1 : At least one sensor autonull value is set. Autonulled sensor is
signalled by bit xxxEvent set to 1.
0 : All sensors are calibrated
1 : At least one sensor isn't calibrated. Uncalibrated sensor is
signalled by bit xxxEvent set to 1.
0 : Roll and pitch tilt angle are in range [-90° ;90°]
S
+...+B
S
)
n-2
n-2
0
0
3 (Read Input Register
Description
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