Filter

SETTING GROUP

DESCRIPTION

DEFAULT

UNIT

DATA TYPE

VALID RANGE

NOTE

gyroaccfc

Projected accelerations cut-off frequency.

1.0

[Hz]

Single

[0.01, inf]

Used to adapt to specific operational requirements.

enableyawfilter

Boolean flag to enable yaw high-pass filter. If 1 (true), yaw high-pass filter is enabled. If 0 (false), yaw high-pass filter is disabled.

0

-

Boolean

0 (false),1 (true)

Should only be enabled if no yaw reference is present and the MRU is stationary.

yawhpwc

Cut-off frequency (in rad/s) for yaw high-pass filter.

2pi/1000

[rad/s]

Single

[2pi/10000, 2pi/100]

A high cut-off frequency minimizes the noise on the output signal but introduces significant phase shifts. A low cut-off frequency reduces the phase shift between the input and output signals but allows more noise to pass through.

yawfilter2order

Boolean flag to select filter order of yaw high-pass filter. If 1 (true), 2nd order yaw filter is used (YawFilter2Order). If 0 (false), 4th order yaw filter is used (YawFilter4Order).

1

-

Boolean

0 (false),1 (true)

A higher order offers a sharper cut-off and more aggressive filtering.

GET

SET

get,filter,gyroaccfc<CR><LF>

set,filter,gyroaccfc,1<CR><LF>

get,filter,enableyawfilter<CR><LF>

set,filter,enableyawfilter,1<CR><LF>

get,filter,yawhpwc<CR><LF>

set,filter,yawhpwc,0.005<CR><LF>

get,filter,yawfilter2order<CR><LF>

set,filter,yawfilter2order,1<CR><LF>