Pigeon 2.0
User’s Guide
___ www.ctr-electronics.com ______________________ 1/31/2022
Cross The Road Electronics Page 6 ____________________________ 1/31/2022
1.2. Features
•
Nine Degrees of Freedom
(3 Axis
Accelerometer
, 3 Axis
Gyroscope
, 3 Axis
Magnetometer
)
•
Full AHRS:
Yaw, Pitch, Roll
•
Quaternion
Output
•
Gravity Vector
Output
•
Boot-up
does not require stillness
. Get useful heading information as soon as it is powered on.
•
Kalman
Filter fusion algorithm
•
Gyro
automatically
re-biases
after
4 seconds of no-motion
•
Temperature
Compensation
for
temperature sensitive components
•
Temperature factory-calibrated
•
Accelerometer
factory-calibrated
•
Gyroscope factory-calibrated
•
No user-calibration
required for accurate
6-axis fusion
.
•
Mount IMU in
any orientation
(
not
limited to horizontal or vertical orientation)
(Note 1,2)
•
Heading
and
Yaw
are
continuous
, ideal for robot heading servos and motion control.
•
Enclosure
protects against debris
•
Wide
Input
Voltage Range 6V
–
28V
•
Protection
Reverse
Input Power
Protection
•
Polycarbonate housing
prevents debris from entering inside device
•
One
wire
lead-pair
for
power
•
Two
wire
lead-pairs
for
CAN Bus
(3-pin connector, one male, one female) for
daisy chaining
devices
•
Robust bootloader
and
reliable field-upgrade
(no physical button required, no “stuck states” that
requires user intervention)
•
Wirelessly check, configure and field-upgrade
using
roboRIO Wi-Fi
and
Phoenix Tuner.
•
Users can
download software API
binaries on our
reliable Maven server (99.999999999% reliability)
•
Hardware Simulation
Support
•
Supports
CAN bus
and
CAN FD bus.
•
Supported by
CANivore
and
roboRIO use case
Note 1:
Pigeon 2.0 can be configured for any mounting orientation. Other IMUs provide a fixed number of orientations, but
Phoenix Tuner/ Phoenix API can be used to select any orientation.
Note 2:
When using Euler angles, user must avoid Gimble Lock conditions for valid Yaw, Pitch, Roll values. This is a limitation of
expressing pose using Euler angles, and not a limitation of the Pigeon IMU.