PNI TCM 5 - Manual (Page 39)

PNI Sensor Corporation Doc #1007537 r12
TCM3 & TCM5 User Manual – Sept 2012 Page 39
kSetParam (frame ID 12)
This frame sets the FIR filter settings for the magnetometer and accelerometer sensors. The second byte
of the payload indicates the x vector component of either the magnetometer or accelerometer. This is to
differentiate whether to apply the filter settings to the magnetometer or accelerometer. The third byte in
the payload indicates the number of FIR taps to use then followed by the filter taps. Each tap is a Float64.
The maximum number of taps that can be set is 32 and the minimum is 0 (no filtering). (See
Recommended FIR Filter Taps).
Parameter ID Axis ID Count Value
1
Value
2
UInt8 UInt8 UInt8
ID
Specific
ID
Specific
Value
3
Value
Count
ID
Specific
ID
Specific
Payload
Parameter Identifiers
Settings Parameter ID Format
KFIRConfig* 3 AxisID (UInt8) + Count (UInt8) + Value (Float64) + Value (Float64) + …
Recommended FIR Filter Tap Value
2 Count 4 Tap Filter 8 Tap Filter 16 Tap Filter 32 Tap Filter
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32 04.6708657655334e-2
04.5329134234467e-1
04.5329134234467e-1
04.6708657655334e-2
01.9875512449729e-2
06.4500864832660e-2
01.6637325898141e-1
02.4925036373620e-1
02.4925036373620e-1
01.6637325898141e-1
06.4500864832660e-2
01.9875512449729e-2 07.9724971069144e-3
01.2710056429342e-2
02.5971390034516e-2
04.6451949792704e-2
07.1024151197772e-2
09.5354386848804e-2
01.1484431942626e-1
01.2567124916369e-1
01.2567124916369e-1
01.1484431942626e-1
09.5354386848804e-2
07.1024151197772e-2
04.6451949792704e-2
02.5971390034516e-2
01.2710056429342e-2
07.9724971069144e-3 01.4823725958818e-3
02.0737124095482e-3
03.2757326624196e-3
05.3097803863757e-3
08.3414139286254e-3
01.2456836057785e-2
01.7646051430536e-2
02.3794805168613e-2
03.0686505921968e-2
03.8014333463472e-2
04.5402682509802e-2
05.2436112653103e-2
05.8693165018301e-2
06.3781858267530e-2
06.7373451424187e-2
06.9231186101853e-2
06.9231186101853e-2
06.7373451424187e-2
06.3781858267530e-2
05.8693165018301e-2
05.2436112653103e-2
04.5402682509802e-2
03.8014333463472e-2
03.0686505921968e-2
02.3794805168613e-2
01.7646051430536e-2
01.2456836057785e-2
08.3414139286254e-3
05.3097803863757e-3
03.2757326624196e-3
02.0737124095482e-3
01.4823725958818e-3