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Summary of Contents for CTR Electronics Pigeon 2.0
- Page 1 Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 Pigeon 2.0 User’s Guide Revision 1.0 Cross The Road Electronics www.ctr-electronics.com Cross The Road Electronics Page 1 ____________________________ 1/31/2022...
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Page 2: Table Of Contents
Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 Table of Contents 1. Device description ..............................5 1.1. Kit Contents ................................ 5 1.2. Features ................................6 1.3. Electrical/Inertial Specifications ......................... 7 1.4. General/Mechanical Specifications ........................7 1.5. LED States ................................8 1.6. Functional Diagram ............................9 1.6.1. - Page 3 7.2. How do I change the Mount Orientation? ....................... 24 7.3. What changes do I need to make when upgrading from Pigeon (1) IMU to Pigeon 2.0? ........ 24 7.4. What are the requirements of Pigeon 2.0 when booting up? ................. 24 7.5.
- Page 4 Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 TO OUR VALUED CUSTOMERS It is our intention to provide our valued customers with the best documentation possible to ensure successful use of your CTRE products. To this end, we will continue to improve our publications, examples, and support to better suit your needs.
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Page 5: Device Description
The Pigeon 2.0 is an inertial measurement unit (IMU) that can sense acceleration, angular velocity, and magnetic fields. With this information, Pigeon 2.0 can be used to sense a mobile platform’s pose, which then can be used for a variety of applications. -
Page 6: Features
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. -
Page 7: Electrical/Inertial Specifications
Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 1.3. Electrical/Inertial Specifications Symbol Parameter Condition Unit Tamb Ambient temperature °C Isupp Supply Current DC supply 12.0V DC supply 28.0V Supply voltage 12.0 28.0 ESD Rating ESD Protection Contact Discharge ±30 ESD Protection Air-Gap Discharge ±30... -
Page 8: Led States
______________________ 1/31/2022 1.5. LED States The Pigeon 2.0 features 2 tri color LEDs that indicate CAN bus health. This feature can be used to confirm proper CAN bus wiring. The table below shows the possible color states. LED Color... -
Page 9: Functional Diagram
Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 1.6. Functional Diagram Signal paths are show in the functional diagram below. 1.6.1. Mount Orientated Signals Note that the Yaw, Pitch, Roll, Quaternion, and Gravity Vector are compensated for the selected Mount Orientation. -
Page 10: Changes Between Pigeon 1 And Pigeon 2
Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 1.7. Changes between Pigeon 1 and Pigeon 2 Pigeon 2.0 is the next evolution in Pigeon IMU. Listed below are the differences between the latest iteration and the original Pigeon IMU. Symbol Pigeon IMU Pigeon 2.0... -
Page 11: Imu Error Sources
However, it can also affect accelerometer and magnetometer. One strategy to reduce this is to continually re-bias the gyroscope whenever a no-motion event is detected (Pigeon 2.0 does this along with other market IMUs). This combined with an environment where temperature does not change rapidly can be adequate depending on the application. -
Page 12: Gyroscope Sensitivity Error
As a result, a gyroscope will typically have sensitivity error. This can cause a consistent under/over-reporting of measured yaw compared to actual rotation. Pigeon 2.0 gyroscope sensitivities are factory calibrated. However different applications may require end-user to provide additional trimming. The procedure below can be used to measure and trim the sensitivity error correction. -
Page 13: Avoid Magnetic/Ferromagnetic Materials
2.4. Avoid Magnetic/Ferromagnetic materials Most IMUs have some type of compass calibration procedure, including Pigeon 2.0. However, if the IMU is placed in an area with severe magnetic disturbance, then minimally the benefit of compass is reduced, and maximally the robot heading may be severely incorrect. -
Page 14: Vibration
2.6. Saturated inputs Pigeon 2.0 will mark a sticky-fault if a sensor measurement is saturated. This is useful in determining if sensitivity configurations are too high, or if the Pigeon physical mount needs dampening. Typically, a rigid mount to the robot chassis is recommended, unless the IMU sensors are saturating, causing loss of information in the pose estimation. -
Page 15: Calibration
Accelerometer is factory calibrated. Additional user calibration is not necessary. 3.5. Compass Calibration 2022 Pigeon 2.0 release firmware supports a compass calibration that requires rotating about the three principal axis. A GitHub example will be made available demonstrating how to leverage this. -
Page 16: Boot Behavior
Pigeon IMU (version 1.0), and several competitor IMUs. Pigeon 2.0, however, does not require no-motion during boot-up. This is because Pigeon 2.0 can predict the gyroscope bias during boot-up. This allows it to produce reasonable heading information immediately on boot, even when in motion. -
Page 17: Boot Behavior - Test Results
Note 1: Pigeon 1.0 User’s Guide clearly states that IMU requires no-motion on bootup. We do not recommend deviating from the product documentation during use. The gyro bias prediction is only a feature with Pigeon 2.0 Note 2: Competitor IMU Documentation clearly states that IMU requires no-motion on bootup. We do not recommend deviating from the product documentation during use. - Page 18 Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 4.1.2. Boot behavior – Accelerometer Legend Note 1: Source of vibration is in the Y and Z axis, therefore X- Pigeon 2 Accelerometer: X Axis axis measurements are reduced in comparison. Pigeon 2 Accelerometer: Y Axis...
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Page 19: Wiring
Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 5. Wiring Pigeon 2.0 comes with wires pre-installed on it. The leads should be wired following the table below. Color Signal Black Ground (Note 1, 2) Yellow CANH (Note 1, 2) Green CANL Note 1: The two yellow wires are electrically common. -
Page 20: Orientation Convention
(defined by gravity). Because of this, Yaw is defined as travel about the plane orthogonal to gravity. Therefore, the Pigeon 2.0 does not require being aligned to gravity for reliable Yaw. 6.3. Gimble Lock Given the angle definitions used by Pigeon 2.0, Gimble Lock occurs when... -
Page 21: Does X/Y Axis Placement Matter
6.6. Custom Mounting Orientation An improvement over the original Pigeon is that the Pigeon 2.0 can apply an internal rotation to adjust the reported Gravity Vector, Euler Angles, and Quaternion. This is important if the mounted orientation of the Pigeon risks placing the IMU into Gimble Lock. In fact, this method essentially moves where Gimble Lock occurs, ideally to a position your mechanism will never reach. -
Page 22: Custom Mounting Orientation - Explicit Values
Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 6.6.1. Custom Mounting Orientation – Explicit Values As an example, suppose the mount orientation is modified so that Pigeon is upright (vertical) inside the robot platform. This would be expressed as rotation about the IMU’s X Axis or a +90 degree Roll. -
Page 23: Custom Mounting Orientation - Phoenix Tuner
Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 6.6.2. Custom Mounting Orientation – Phoenix Tuner When using Phoenix Tuner, The Pigeon 2 Mount Calibration tab may be used to configure a custom mount orientation. Once Tuner has discovered the Pigeon 2, user may press the “Begin Mount Calibration”... -
Page 24: Faq
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 Section 1.3. - Page 25 Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 8. Mechanical Drawings Cross The Road Electronics Page 25 ____________________________ 1/31/2022...
- Page 26 Pigeon 2.0 User’s Guide www.ctr-electronics.com ______________________ 1/31/2022 9. Revision History Revision Date Description 31-Jan-2022 Initial Release Cross The Road Electronics Page 26 ____________________________ 1/31/2022...
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