Owner's manual

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AV440UserManual
0131‐01Rev.F
Page33
N
7430‐
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Setting DefaultValue Comments
RestartOn
OverRange
OFF
Thissettingforcesanalgorithmresetwhenasensoroverrangeoccursi.e.,a
rotationalrateonanyofthethreeaxesexceedsthemaximumrange.Thedefault
settingisOFF..Algorithmresetreturnstheunittoahighgainstate,wherethe
unitrapidlyestimatesthegyroscopebiasandusestheaccelerometerfeedback
heavily.Thissettingisrecommendedwhenthesourceofover‐rangeislikelyto
besustainedandpotentiallymuchgreaterthantheratesensoroperatinglimit.
Largeandsustainedangularrateover‐rangesresultinunrecoverableerrorsin
rollandpitchoutputs.
AnunrecoverableerrorisonewheretheEKFcannotstabilizetheresultingroll
andpitchreading.Iftheover‐rangesareexpectedtobeofshortduration(<1
sec)andamodestpercentageoverthemaximumoperatingrange,itis
recommendedthattherestartonoverrangesettingbeturnedoff.Handlingof
anin nge
swit
ertialratesensorover‐rangeiscontrolledusingtherestartOnOverRa
ch.
 Ifthisswitchisoff,thesystemwillflagtheoverRangestatusflagand
continuetooperatethroughit.
 Ifthisswitchison,thesystemwillflagamasterFailerrorduringanover‐
rangeconditionandcontinuetooperatewiththisflaguntilaquasi‐static
conditionismettoallowforanalgorithmrestart.
Thequasi‐staticconditionrequiredisthattheabsolutevalueofeachlow‐pass
ratesensorfallsbelow3deg/sectobegininitialization.Thesystemwillthen
attemptanormalalgorithmstart.
Dynamic
Motion
ON
ThedefaultsettingisON.Turningoffthedynamicmotionsettingresultsina
highergainstatethatusestheaccelerometerfeedbackheavily.Duringperiodsof
timewhenthereisknownlowdynamicacceleration
TurnSwitch
hreshold
t
0.5deg/sec
Withrespecttocentripetalorfalsegravityforcesfromturningdynamics(or
coordinatedturn)
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