01-11-2021 07:32 PM
Can you provide any information about how sensor data is filtered when we request raw output? For example the datasheet lists that the gyro can run at 3200 Hz, but when I subscribe to the Gyroscope virtual sensor, I only ever see the data at 200 Hz, max. Is this simply downsampled? Or is there a filter applies to reduce the data from 3200 Hz to 200?
What type of filter is used?
Thank you
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01-22-2021 07:39 AM
Hi,
Sorry, late to reply.
BHI160 integrate BSX, from datasheet description, the maximum odr is 200Hz for virtual sensor, if using pass-through mode, will get BMI160 actual register data. From BHI160 datasheet, you could find raw data to fuser odr is 200hz.
For BMI160 gyro filter, there is no undersampling option for gyro, only normal power mode, for specific bw and odr relationship, you can refer section 2.4.2 in datasheet.
For BMG250, gyro same with bmi160.