Pigeon 2.0
User’s Guide
___ www.ctr-electronics.com ______________________ 1/31/2022
Cross The Road Electronics Page 24 ____________________________ 1/31/2022
7. FAQ
7.1. Is there a way to tell if the device is present/powered?
To determine visually if the device is powered and functioning, check the built-in LED, see
7.2. How do I change the Mount Orientation?
CTRE provides API that allows explicit selection of Mount Yaw, Pitch, and Roll.
Additionally, Phoenix Tuner allows for an automatic configuration that also sets these configuration values.
Software will be released and available for download at
https://ctr-electronics.com/software
7.3. What changes do I need to make when upgrading from Pigeon (1) IMU to Pigeon
2.0?
has general software guidance on this.
7.4. What are the requirements of Pigeon 2.0 when booting up?
Pigeon 2.0 has no hard requirements when booting. This means Pigeon 2.0 will start providing useful orientation
information as soon as power is applied to it. For more information on the drift rates of Pigeon 2.0, look at
1.3. Electrical Specifications
7.5. Does the device support CAN FD?
Yes, Pigeon 2.0 supports CAN FD with a CTRE CANivore.
7.6. Trying to keep robot from tipping over. Any suggestions?
Generally, robots are tipped due to a combination of a high center of gravity, and excessive acceleration by the
drivetrain.
In advanced cases, software can be developed to prevent the robot from tipping by monitoring the Gravity Vector.
If the robot is upright, the Z component will contain nearly the entire magnitude of gravity (1.0 g). If the robot is
tipping, the X and Y component will reflect this. Pitch and Roll may also be used for this purpose.
7.7. Closed-looping an Arm. Any suggestions?
If the Pigeon 2.0 is placed on a vertically rotating platform, choose a Mount Orientation so that the rotation causes
a
Roll
. This ensures 360 degrees range in measurement without risk of Gimble Lock.
Alternatively using the Gravity Vector may also prove useful as this cleanly provides the individual X, Y, Z
components of the arm orientation, and may be used as a direct feed-forward for closed-loops.
7.8. When Pigeon IMU boots, starting Yaw is not zero?
Depending on the ship firmware flashed into the device, the initial Yaw angle may be nonzero after bootup.
Phoenix API allows setting/taring the Yaw angle to accommodate the needs of the application.