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Chebyshev USAGE: =FILTTYPE,<A|G>,CHEBY<,N,GSTOP,FSTOP>
The Chebyshev (type II) is the default final output filter. The N, GSTOP and FSTOP
parameters are optional and if not used, then the default is 8th order with 0.01 stop gain
(-40dB) and the stop band frequency will be 0.545*data rate. If optional parameters are used,
then both parameters must be specified and the desired data rate should be configured prior.
Optional parameters:
N is filter order; integer with range 1 to 8
GSTOP is stop band gain as a unitless ratio; floating-point value, typical range is
between about 0.1 to 0.001. To convert from dB units: GSTOP = 10
(dB/20)
or according to
Table 8-2 below:
Table 8-2: GSTOP Gains
FSTOP is stop band frequency in Hz units; floating-point value, range is 0 to about 3000
Hz
8.16.3 Response
FILTTYPE,<A|G>,<CHEBY|BUTTER|AVE>
Note: the unit will not respond back optional parameters for Butterworth or Chebyshev types.
8.16.4 Examples and Further Information
Examples for =FILTYPE command:
Table 8-3: FILTYPE Commands and Responses
Final Output Filter Description
Default Butterworth applied to
accelerometers, cutoff at 0.5 data
rate
=filttype,a,butter,4,125.25
FILTTYPE,A,BUTTER,4,125.25
Semi-custom Butterworth, 4-order
with 125.25 Hz cutoff frequency
applied to accelerometers
Uniform Averager applied to gyros
Default Chebyshev type II applied
to gyros
=filttype,g,cheby,8,0.01,545
FILTTYPE,G,CHEBY,8,0.01,545
(* see errata note)
Chebyshev applied to gyros; this is
the same as default for a data rate
of 1000 Hz
* ERRATA NOTE: for FILTTYPE command, spaces instead of commas after the BUTTER or CHEBY
keywords may appear on early firmware versions.
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