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 specied 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
dierence between the new data and the last value moves outside a bound.