UM001
85
6.2.5
IMU Filtering Configuration
IMU Filtering Configuration
Register ID : 85
Access : Read / Write
Comment : Controls the level of filtering performed on the raw IMU measurements.
Size (Bytes): 15
Example Response: $VNRRG,85,0,5,5,5,0,0,3,3,3,0*78
Offset
Name
Format
Unit
Description
0
MagWindowSize
uint16
-
Number of previous measurements averaged for magnetic
measurements.
2
AccelWindowSize
uint16
-
Number of previous measurements averaged for
acceleration measurements.
4
GyroWindowSize
uint16
-
Number of previous measurements averaged for gyro
measurements.
6
TempWindowSize
uint16
-
Number of previous measurements averaged for
temperature measurements.
8
PresWindowSize
uint16
-
Number of previous measurements averaged for pressure
measurements.
10
MagFilterMode
uint8
-
Filtering mode for magnetic measurements.
See table below for options.
11
AccelFilterMode
uint8
-
Filtering mode for acceleration measurements.
See table below for options.
12
GyroFilterMode
uint8
-
Filtering mode for gyro measurements.
See table below for options.
13
TempFilterMode
uint8
-
Filtering mode for temperature measurements.
See table below for options.
14
PresFilterMode
uint8
-
Filtering mode for pressure measurements.
See table below for options.
This register allows the user to configure the FIR filtering what is applied to the IMU measurements. The
filter is a uniformly-weighted moving window (boxcar) filter of configurable size. The filtering does not
affect the values used by the internal filter, but only the output values.
WindowSize
The WindowSize parameters for each sensor define the number of samples at the IMU rate (default
400Hz) which will be averaged for each output measurement.
FilterMode
The FilterMode parameters for each sensor select which output quantities the filtering should be applied
to. Filtering can be applied to either the uncompensated IMU measurements, compensated (HSI and
biases compensated by onboard filters, if applicable), or both.
IMU Filtering Modes
Value
Description
0
No Filtering
1
Filtering performed only on raw uncompensated IMU measurements.
2
Filtering performed only on compensated IMU measurements.
3
Filtering performed on both uncompensated and compensated IMU measurements.
