Request (Feature) Collision/crash filter activation

The new Spike Filter works by detecting spikes in position data larger that the defined level (most likely crashes) and it will automatically activates the Force Offline mode, that places the actuators in seek position mode until all motors catch up with live motion data. So for the duration of the crash the motors will avoid doing any intense jolts and most likely the motion will come back on when the vehicle is standing still or the motion levels are below the spike level. It should work wonders in long duration crashes like when you have rollover down a bank for example...

How does the maths work for a spike remover ? Do you track moving average and if you get a large gain you cap the value ?

What does the maths look like ?

Thinking about this is may be easy to filter the data

Use a circuit board that has 2x serial ports

One for data in and one for data out.

Use 6x knobs as a cut off filter

It reads the input and caps it if it exceeds the value for that axis

Then the cleaned data is passed on to the serial port

With some programming should work with any protocol

Its a rolling window of values that is tracking the distance difference of the current position of the actuator and the real time positions from the motion software.

If the level of difference (spike) is larger than the defined window on ANY of the actuators, it will throw the system in offline mode. Under offline mode the actuators move slower with injected artificial pulses following the real time data. When the levels of spike fall on ALL actuators and all actuators current positions match the real time positions, the system switch back to online, allowing the servos to run full speed vibrations and motion again.

Its more complicated than it sounds... I know... I hope it makes sense... I just got the idea how this will work, and decided to make it. about 2000 additional lines of code later, its better than I hoped.

See example graphic of rolling window of allowable motion, that will activate the spike filter if distance between two consecutive positions is above 8000 positions (total range is 65535 positions).

I wish it would be so easy... my post explains why its more that just a "low pass" filter...

Seriously, without the double control streams running in the AMC to easily switch between online and offline motion data (artificially generated), I would never be able to get the spike filter right. Also you have to be able to read the real time data while tracking the absolute current position of the actuator, while its moving with capped speed to seek the online data... everything has to be combed carefully together for this to work seamlessly !

And a longer version from CV (PT Motion Owners Club group):

each step how much mm equals?