Operation Manual

63
Filtering and Damping
Damping Types
Like calibration, all the variables that require ltering have their own lter le in the lters directory.
The various damping functions are specied by the rst number in the damping le (ID in the table below).
ID DAMPING TYPE NOTES
1 Ordinary exponential
One parameter:
inverse of required damping time in secs/10
2 Exponential, for 360°
One parameter:
inverse of required damping time in secs/10
3 Exponential, for 180°
One parameter:
inverse of required damping time in secs/10
4 Two term Kalman lter Refer to B&G
5
Band pass - mainly for rate
gyros
Refer to B&G
6 k term moving average Refer to B&G
7
3rd order Chebyshev low pass;
ripple fraction 0.1
One parameter: damping in secs
8 As 7 for 360 One parameter: damping in secs
9 As 7 for 180 One parameter: damping in secs
10
3rd order Chebyshev band
pass; xed coefs
DO NOT CHANGE:
used for rate gyros, see below
11 Non-linear See explanation below
12 Non-linear, for 360° See explanation below
13 Non-linear, for 180° See explanation below
14 RMS calculation
Root mean square:
e.g. for calculating wave amplitude
15 Period calculation
Period calculation:
e.g. for calculating time between waves
16
Ordinary exponential
dependent damping
Table with independent variable and inverse of
required damping time in secs/10
17
Exponential dependent
damping, for 360°
Table with independent variable and inverse of
required damping time in secs/10
18
Exponential dependent
damping, for 180°
Table with independent variable and inverse of
required damping time in secs/10
Damping example 1: Exponential Damping
Damping functions 11, 12 and 13 are exponential functions that will cause the data to move more quickly if the
dierence between the new data and the last value moves outside a bound.