## Phidget Spatial.lvlib:SpatialSetAHRSParameters.vi

Calibrate your device for the environment it will be used in.

- Setting these parameters will allow you to tune the AHRS algorithm on the device to your specific application.

Device Support:

1042_0 (ver: 300, 301, 302, 303) Spatial : Unsupported

1044_0 (ver: 400, 401, 402, 403) Spatial : Unsupported

1044_1 (ver: 500, 502) Spatial : Unsupported

1056_0 (ver: 100, 101, 102) Spatial : Unsupported

1056_0 (ver: 200) Spatial : Unsupported

MOT1101_0 (ver: 112, 113) Spatial : Unsupported

MOT1102_0 (ver: 210) Spatial : Supported

MOT0109_0 (ver: 112, 113, 115) Spatial : Supported

| Device In Device # Identification

| error in (no error) error in can accept error information wired from VIs previously called.

| status status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.

| code code is the error or warning code. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.

| source source describes the origin of the error or warning. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.

| AHRS Parameters The collection of AHRS parameters

| Angular Vel Threshold The maximum angular velocity reading where the device is assumed to be "at rest"

| Angular Vel Delta Thresh The acceptable amount of change in angular velocity between measurements before movement is assumed.

| Accel Threshold The maximum acceleration applied to the device (minus gravity) where it is assumed to be "at rest". This is also the maximum acceleration allowable before the device stops correcting to the acceleration vector.

| Mag Time The time it will take to correct the heading 95% of the way to aligning with the compass (in seconds),up to 15 degrees of error. Beyond 15 degrees, this is the time it will take for the bearing to move 45 degrees towards the compass reading. Remember you can zero the algorithm at any time to instantly realign the spatial with acceleration and magnetic field vectors regardless of magnitude.

| Accel Time The time it will take to correct the pitch and roll 95% of the way to aligning with the accelerometer (in seconds).

| Bias Time The time it will take to have the gyro biases settle to within 95% of the measured steady state (in seconds).

| Device Out Same as Device In

| error out error out passes error or warning information out of a VI to be used by other VIs.

| status status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. Right-click the error out control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.

| code code is the error or warning code. Right-click the error out control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.

| source source describes the origin of the error or warning. Right-click the error out control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error.