Filters

The information on this page refers to firmware v2.43e and higher.

The STorM32 provides a rich filter section to filter the gyro, accelerometer, encoder, and motor control data, using notch/band-cut filters.

The filters are organized into three identical filter banks, which are processed in series. That is, the data are feed into filter bank #1, the output of this bank is then feed into filter bank #2, and so on.

The parameters of the filter banks are exemplarily described for filter bank #1. They are

• Filter1 Source: Selects the filter source.
• Filter1 Center Frequency: Selects the center or cut-off frequency of the filter.
• Filter1 Bandwidth: Selects the bandwidth for notch or band-cut filters.
• Filter1 Attenuation: Selects the attenuation for notch or band-cut filters.

Currently, the following data sources are available:

• “off”: The filter bank is inactive.
• “gyro1 all”:
• “gyro1 x”:
• “gyro1 y”:
• “gyro1 z”:
• “imu1 all”:
• “imu1 x”:
• “imu1 y”:
• “imu1 z”:
• “mot all”: not yet implemented
• “mot pitch”:not yet implemented
• “mot roll”:not yet implemented
• “mot yaw”:not yet implemented