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How much movement is required to trigger this rejection? ie: Is it pretty strong in rejecting bumps etc?
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Disturbance rejection is fairly strong. For example, it would definitely detect a running on-board compressor, even with isolation mounts, should the compressor activate during the continuous calibration process (which of course cannot happen in Disabled Mode).
Sensitivity is set by the constant (0.5) which is the threshold used to evaluate the data set standard deviation. The tradeoff involved in selecting the threshold is that while lower values will reject smaller movements, it will also increase false positives as the threshold nears the noise floor of the sensor. I arrived at the currently coded value experimentally to balance this tradeoff. You can modify the constant to a control and explore while monitoring the IMU ZeroBias Front Panel as you trigger it with movement.