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?
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BHI160 use BMI160 as imu sensor, so you could refer bst-bmi160-ds000.pdf to get gyro filter config.
At 2.4.2 Data Processing Gyroscope, you could find how to config gyro and some basic introduction about filter.
If you want know more about filter, I'll check internal and get more info and get back to you soon.
Thank you for your reply.
The BHI160 provides gyro data at 200 Hz, does that mean it is using the gyro at 200 Hz sample rate, so it has a 3dB filter at 74.6 Hz? Or does it read the BMI160 at 3200 Hz and apply a different filter?
Can you send me any info about the phase response of the filter, whether it is butterworth, bessel, or another structure?