0x2027 Control input FIR filter¶
Boxcar FIR filter (uses rectangular gains); equivalent to a moving average filter.
Defines the interpolation window length in multiples of 250 us (e.g. 4 for a 1 ms window) in the `order` sub-object.
Each 4 kHz cycle, the values in the buffer are summed up and divided by the buffer length to produce the output.
When the filter order is equal to the number of control cycles per target update period, the result is a linearly interpolated command.
| Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Enabled | 0x2027:1 | BOOL | 1 |
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readwrite | ||||||||
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Set to 1 to enable the control input FIR filter. |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Order | 0x2027:2 | USINT | 8 | 0 | 31 | 3 | readwrite | ||||||
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The order or length of the FIR filter. Order of the filter means the maximum number of delay elements used in the filter circuit. |
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