Advanced Low-Pass Filter Settings (0x0C,0x50)
| Description |
Advanced configuration for the IMU data quantity low-pass filters. |
|
| Notes |
Deprecated, use the lowpass filter (0x0C,0x54) command instead. The scaled data quantities are by default filtered through a single-pole IIR low-pass filter which is configured with a -3dB cutoff frequency of half the reporting frequency (set by decimation factor in the IMU Message Format command) to prevent aliasing on a per data quantity basis. This advanced configuration command allows for the cutoff frequency to be configured independently of the data reporting frequency as well as allowing for a complete bypass of the digital low-pass filter. Possible data descriptors: 0x04 - Scaled accelerometer data 0x05 - Scaled gyro data 0x06 - Scaled magnetometer data (if applicable) 0x17 - Scaled pressure data (if applicable) |
|
| Parameter Name | Data Type | Description |
| Field Length | u8 | 9 |
| Descriptor | u8 | 0x50 |
| Function Selector | u8 |
This command supports the following MIP function selectors:Write Read Save Load Default
[WRSLD]
|
Target Descriptor
[WRSLD]
|
u8 | Field descriptor of filtered quantity within the Sensor data set. Supported values are accel (0x04), gyro (0x05), mag (0x06), and pressure (0x17), provided the data is supported by the device. Except with the READ function selector, this can be 0 to apply to all of the above quantities. |
Enable
[W]
|
bool | The target data will be filtered if this is true. |
Manual
[W]
|
bool | If false, the cutoff frequency is set to half of the streaming rate as configured by the message format command. Otherwise, the cutoff frequency is set according to the following 'frequency' parameter. |
Frequency
[W]
|
u16 | -3dB cutoff frequency in Hz. Will not affect filtering if 'manual' is false. |
Reserved
[W]
|
u8 | Reserved, set to 0x00. |
| Response Data | Data Type | Description |
| Response Length | u8 | 8 |
| Response Descriptor | u8 | 0x8B |
| Target Descriptor | u8 | |
| Enable | bool | True if the filter is currently enabled. |
| Manual | bool | True if the filter cutoff was manually configured. |
| Frequency | u16 | The cutoff frequency of the filter. If the filter is in auto mode, this value is unspecified. |
| Reserved | u8 | Reserved and must be ignored. |