Second Order Complementary Angle Filter

File:TArduinoSecondOrderComplementaryAngleFilter.png

Summary

Second-order complementary filter for fusing angle input with its rate of change, providing enhanced accuracy and stability.

Description

The Second Order Complementary Angle Filter improves on the basic complementary angle filter by introducing a second-order correction with a configurable coefficient. This allows for better noise suppression and dynamic response, making it well-suited for orientation and motion tracking applications (e.g., IMU sensor fusion). Output can be expressed in degrees, radians, or normalized units.

Diagram:

Properties

• Enabled – Enables or disables the filter.
• Coefficient (K) – Gain coefficient for second-order filtering (default 10).
• Units – Defines the output units:
  • auDegree – Degrees.
  • auRadians – Radians.
  • auNormalized – Normalized (0.0 – 1.0).

Pins

Input Pins

• In (analog) – Raw angle input.
• Rate of Change (analog) – Angular velocity or derivative input.

Output Pins

• Out (analog) – Filtered angle output.

Categories

• File:TArduinoAnalogCategory.png Category Analog – Analog signal processing components.
• File:TArduinoFilterCategory.png Category Filter – Signal filtering and smoothing components.
• File:TArduinoAngleCategory.png Category Angle – Angle and rotation-related components.