# Filter type for smoothing sensor data (P-CHAN-00825)

P-CHAN-00825 | Filter type for smoothing sensor data
Description | Sensor values may be noisy. The oscillation tendency can better be suppressed by using a suitable filter . You can select the following filter types for distance control:

- DEFAULT: Moving averaging filter where P-CHAN-00800 = 4
- MOVING_AVERAGE: Moving averaging filter
- LOWPASS: Low-pass filter
- KALMAN_MA: Kalman filter with prediction from averaging filter
- EXPO_MEAN: Exponentially weighted averaging filter
- KALMAN_EXPO: Kalman filter with prediction from exponentially weighted averaging filter

Parameter | dist_ctrl[i].filter_type (where i=0)
Data type | STRING
Data range | DEFAULT MOVING_AVERAGE LOWPASS KALMAN_MA EXPO_MEAN

KALMAN_EXPO

Dimension | [-]
Default value | DEFAULT
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 In addition, the following filter parameters are required for each of the filter types::

- MOVING_AVERAGE: P-CHAN-00800
- LOWPASS: P-CHAN-00816, P-CHAN-00817
- KALMAN_MA: P-CHAN-00800, P-CHAN-00826
- EXPO_MEAN: P-CHAN-00800, P-CHAN-00827
- KALMAN_EXPO: P-CHAN-00800, P-CHAN-00827, P-CHAN-00826