Complementary filter settings (0x0C,0x51)
| Description |
Configure the settings for the complementary filter which produces the following (0x80) descriptor set values: attitude matrix (0x80,09), quaternion (0x80,0A), and Euler angle (0x80,0C) outputs. |
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| Notes |
The filter can be configured to correct for pitch and roll using the accelerometer (with the assumption that linear acceleration is minimal), and to correct for heading using the magnetometer (with the assumption that the local magnetic field is dominated by the Earth's own magnetic field). Pitch/roll and heading corrections each have their own configurable time constants, with a valid range of 1-1000 seconds. The default time constant is 10 seconds. |
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| Parameter Name | Data Type | Description |
| Field Length | u8 | 13 |
| Descriptor | u8 | 0x51 |
| Function Selector | u8 |
This command supports the following MIP function selectors:Write Read Save Load Default
[WRSLD]
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| Pitch Roll Enable | bool | Enable Pitch/Roll corrections |
| Heading Enable | bool | Enable Heading corrections (only available on devices with magnetometer) |
| Pitch Roll Time Constant | float | Time constant associated with the pitch/roll corrections [s] |
| Heading Time Constant | float | Time constant associated with the heading corrections [s] |
| Response Data | Data Type | Description |
| Response Length | u8 | 12 |
| Response Descriptor | u8 | 0x97 |
| Pitch Roll Enable | bool | Enable Pitch/Roll corrections |
| Heading Enable | bool | Enable Heading corrections (only available on devices with magnetometer) |
| Pitch Roll Time Constant | float | Time constant associated with the pitch/roll corrections [s] |
| Heading Time Constant | float | Time constant associated with the heading corrections [s] |