Table of Contents

Class CorePigeon2

Namespace
CTRE.Phoenix6.Hardware.Core
Assembly
Phoenix6.Hardware.dll

Class description for the Pigeon 2 IMU sensor that measures orientation.

public class CorePigeon2 : ParentDevice, CommonDevice
Inheritance
CorePigeon2
Implements
Derived
Inherited Members

Constructors

CorePigeon2(int)

Constructs a new Pigeon 2 sensor object.

Constructs the device using the default CAN bus for the system (see CANBus(string)). 
public CorePigeon2(int deviceId)

Parameters

deviceId int

ID of the device, as configured in Phoenix Tuner

CorePigeon2(int, CANBus)

Constructs a new Pigeon 2 sensor object.

public CorePigeon2(int deviceId, CANBus canbus)

Parameters

deviceId int

ID of the device, as configured in Phoenix Tuner

canbus CANBus

The CAN bus this device is on

CorePigeon2(int, string)

Constructs a new Pigeon 2 sensor object.

[Obsolete("Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead.")]
public CorePigeon2(int deviceId, string canbus)

Parameters

deviceId int

ID of the device, as configured in Phoenix Tuner

canbus string

Name of the CAN bus. Possible CAN bus strings are:

  • CANivore name or serial number
  • SocketCAN interface (non-FRC Linux only)
  • "" for any CANivore seen by the program
  • empty string (default) to select the default for the system:
    • "can0" on Linux
    • "" on Windows

Properties

Configurator

The configurator for this device. Users may use this to refresh and apply configs, such as the Pigeon2Configuration object

public Pigeon2Configurator Configurator { get; }

Property Value

Pigeon2Configurator

SimState

Gets the simulation state for this device.

This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop. 
public Pigeon2SimState SimState { get; }

Property Value

Pigeon2SimState

Methods

ClearStickyFault_BootDuringEnable(double)

Clear sticky fault: Device boot while detecting the enable signal

public StatusCode ClearStickyFault_BootDuringEnable(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BootIntoMotion(double)

Clear sticky fault: Motion Detected during bootup.

public StatusCode ClearStickyFault_BootIntoMotion(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BootupAccelerometer(double)

Clear sticky fault: Bootup checks failed: Accelerometer

public StatusCode ClearStickyFault_BootupAccelerometer(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BootupGyroscope(double)

Clear sticky fault: Bootup checks failed: Gyroscope

public StatusCode ClearStickyFault_BootupGyroscope(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BootupMagnetometer(double)

Clear sticky fault: Bootup checks failed: Magnetometer

public StatusCode ClearStickyFault_BootupMagnetometer(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_DataAcquiredLate(double)

Clear sticky fault: Motion stack data acquisition was slower than expected

public StatusCode ClearStickyFault_DataAcquiredLate(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Hardware(double)

Clear sticky fault: Hardware fault occurred

public StatusCode ClearStickyFault_Hardware(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_LoopTimeSlow(double)

Clear sticky fault: Motion stack loop time was slower than expected.

public StatusCode ClearStickyFault_LoopTimeSlow(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_SaturatedAccelerometer(double)

Clear sticky fault: Accelerometer values are saturated

public StatusCode ClearStickyFault_SaturatedAccelerometer(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_SaturatedGyroscope(double)

Clear sticky fault: Gyroscope values are saturated

public StatusCode ClearStickyFault_SaturatedGyroscope(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_SaturatedMagnetometer(double)

Clear sticky fault: Magnetometer values are saturated

public StatusCode ClearStickyFault_SaturatedMagnetometer(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Undervoltage(double)

Clear sticky fault: Device supply voltage dropped to near brownout levels

public StatusCode ClearStickyFault_Undervoltage(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_UnlicensedFeatureInUse(double)

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

public StatusCode ClearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFaults(double)

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test. 
public StatusCode ClearStickyFaults(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

GetAccelerationX(bool)

The acceleration measured by Pigeon2 in the X direction.

This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.
  • Minimum Value-2.0
  • Maximum Value1.99993896484375
  • Default Value0
  • Unitsg

Default Rates:

  • CAN 2.010.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAccelerationX(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AccelerationX Status Signal Object

GetAccelerationY(bool)

The acceleration measured by Pigeon2 in the Y direction.

This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.
  • Minimum Value-2.0
  • Maximum Value1.99993896484375
  • Default Value0
  • Unitsg

Default Rates:

  • CAN 2.010.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAccelerationY(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AccelerationY Status Signal Object

GetAccelerationZ(bool)

The acceleration measured by Pigeon2 in the Z direction.

This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.
  • Minimum Value-2.0
  • Maximum Value1.99993896484375
  • Default Value0
  • Unitsg

Default Rates:

  • CAN 2.010.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAccelerationZ(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AccelerationZ Status Signal Object

GetAccumGyroX(bool)

The accumulated gyro about the X axis without any sensor fusing.

  • Minimum Value-23040.0
  • Maximum Value23039.9560546875
  • Default Value0
  • Unitsdeg

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAccumGyroX(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AccumGyroX Status Signal Object

GetAccumGyroY(bool)

The accumulated gyro about the Y axis without any sensor fusing.

  • Minimum Value-23040.0
  • Maximum Value23039.9560546875
  • Default Value0
  • Unitsdeg

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAccumGyroY(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AccumGyroY Status Signal Object

GetAccumGyroZ(bool)

The accumulated gyro about the Z axis without any sensor fusing.

  • Minimum Value-23040.0
  • Maximum Value23039.9560546875
  • Default Value0
  • Unitsdeg

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAccumGyroZ(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AccumGyroZ Status Signal Object

GetAngularVelocityXDevice(bool)

The angular velocity (ω) of the Pigeon 2 about the device's X axis.

This value is not mount-calibrated.
  • Minimum Value-1998.048780487805
  • Maximum Value1997.987804878049
  • Default Value0
  • Unitsdps

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAngularVelocityXDevice(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AngularVelocityXDevice Status Signal Object

GetAngularVelocityXWorld(bool)

The angular velocity (ω) of the Pigeon 2 about the X axis with respect to the world frame. This value is mount-calibrated.

  • Minimum Value-2048.0
  • Maximum Value2047.99609375
  • Default Value0
  • Unitsdps

Default Rates:

  • CAN 2.010.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAngularVelocityXWorld(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AngularVelocityXWorld Status Signal Object

GetAngularVelocityYDevice(bool)

The angular velocity (ω) of the Pigeon 2 about the device's Y axis.

This value is not mount-calibrated.
  • Minimum Value-1998.048780487805
  • Maximum Value1997.987804878049
  • Default Value0
  • Unitsdps

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAngularVelocityYDevice(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AngularVelocityYDevice Status Signal Object

GetAngularVelocityYWorld(bool)

The angular velocity (ω) of the Pigeon 2 about the Y axis with respect to the world frame. This value is mount-calibrated.

  • Minimum Value-2048.0
  • Maximum Value2047.99609375
  • Default Value0
  • Unitsdps

Default Rates:

  • CAN 2.010.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAngularVelocityYWorld(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AngularVelocityYWorld Status Signal Object

GetAngularVelocityZDevice(bool)

The angular velocity (ω) of the Pigeon 2 about the device's Z axis.

This value is not mount-calibrated.
  • Minimum Value-1998.048780487805
  • Maximum Value1997.987804878049
  • Default Value0
  • Unitsdps

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAngularVelocityZDevice(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AngularVelocityZDevice Status Signal Object

GetAngularVelocityZWorld(bool)

The angular velocity (ω) of the Pigeon 2 about the Z axis with respect to the world frame. This value is mount-calibrated.

  • Minimum Value-2048.0
  • Maximum Value2047.99609375
  • Default Value0
  • Unitsdps

Default Rates:

  • CAN 2.010.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetAngularVelocityZWorld(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AngularVelocityZWorld Status Signal Object

GetFaultField(bool)

Integer representing all fault flags reported by the device.

These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.
  • Minimum Value0
  • Maximum Value4294967295
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetFaultField(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

FaultField Status Signal Object

GetFault_BootDuringEnable(bool)

Device boot while detecting the enable signal

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_BootDuringEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BootDuringEnable Status Signal Object

GetFault_BootIntoMotion(bool)

Motion Detected during bootup.

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_BootIntoMotion(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BootIntoMotion Status Signal Object

GetFault_BootupAccelerometer(bool)

Bootup checks failed: Accelerometer

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_BootupAccelerometer(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BootupAccelerometer Status Signal Object

GetFault_BootupGyroscope(bool)

Bootup checks failed: Gyroscope

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_BootupGyroscope(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BootupGyroscope Status Signal Object

GetFault_BootupMagnetometer(bool)

Bootup checks failed: Magnetometer

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_BootupMagnetometer(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BootupMagnetometer Status Signal Object

GetFault_DataAcquiredLate(bool)

Motion stack data acquisition was slower than expected

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_DataAcquiredLate(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_DataAcquiredLate Status Signal Object

GetFault_Hardware(bool)

Hardware fault occurred

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_Hardware(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_Hardware Status Signal Object

GetFault_LoopTimeSlow(bool)

Motion stack loop time was slower than expected.

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_LoopTimeSlow(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_LoopTimeSlow Status Signal Object

GetFault_SaturatedAccelerometer(bool)

Accelerometer values are saturated

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_SaturatedAccelerometer(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_SaturatedAccelerometer Status Signal Object

GetFault_SaturatedGyroscope(bool)

Gyroscope values are saturated

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_SaturatedGyroscope(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_SaturatedGyroscope Status Signal Object

GetFault_SaturatedMagnetometer(bool)

Magnetometer values are saturated

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_SaturatedMagnetometer(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_SaturatedMagnetometer Status Signal Object

GetFault_Undervoltage(bool)

Device supply voltage dropped to near brownout levels

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_Undervoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_Undervoltage Status Signal Object

GetFault_UnlicensedFeatureInUse(bool)

An unlicensed feature is in use, device may not behave as expected.

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetFault_UnlicensedFeatureInUse(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_UnlicensedFeatureInUse Status Signal Object

GetGravityVectorX(bool)

The X component of the gravity vector.

This is the X component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.
  • Minimum Value-1.000030518509476
  • Maximum Value1.0
  • Default Value0
  • Units

Default Rates:

  • CAN 2.010.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetGravityVectorX(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

GravityVectorX Status Signal Object

GetGravityVectorY(bool)

The Y component of the gravity vector.

This is the X component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.
  • Minimum Value-1.000030518509476
  • Maximum Value1.0
  • Default Value0
  • Units

Default Rates:

  • CAN 2.010.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetGravityVectorY(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

GravityVectorY Status Signal Object

GetGravityVectorZ(bool)

The Z component of the gravity vector.

This is the Z component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.
  • Minimum Value-1.000030518509476
  • Maximum Value1.0
  • Default Value0
  • Units

Default Rates:

  • CAN 2.010.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetGravityVectorZ(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

GravityVectorZ Status Signal Object

GetIsProLicensed(bool)

Whether the device is Phoenix Pro licensed.

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetIsProLicensed(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

IsProLicensed Status Signal Object

GetMagneticFieldX(bool)

The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction. This is only valid after performing a magnetometer calibration.

  • Minimum Value-19660.8
  • Maximum Value19660.2
  • Default Value0
  • UnitsuT

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetMagneticFieldX(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MagneticFieldX Status Signal Object

GetMagneticFieldY(bool)

The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. This is only valid after performing a magnetometer calibration.

  • Minimum Value-19660.8
  • Maximum Value19660.2
  • Default Value0
  • UnitsuT

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetMagneticFieldY(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MagneticFieldY Status Signal Object

GetMagneticFieldZ(bool)

The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. This is only valid after performing a magnetometer calibration.

  • Minimum Value-19660.8
  • Maximum Value19660.2
  • Default Value0
  • UnitsuT

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetMagneticFieldZ(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MagneticFieldZ Status Signal Object

GetNoMotionCount(bool)

The number of times a no-motion event occurred, wraps at 15.

  • Minimum Value0
  • Maximum Value15
  • Default Value0
  • Units

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetNoMotionCount(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

NoMotionCount Status Signal Object

GetNoMotionEnabled(bool)

Whether the no-motion calibration feature is enabled.

  • Default Value0

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetNoMotionEnabled(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

NoMotionEnabled Status Signal Object

GetPitch(bool)

Current reported pitch of the Pigeon2.

  • Minimum Value-90.0
  • Maximum Value89.9560546875
  • Default Value0
  • Unitsdeg

Default Rates:

  • CAN 2.0100.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetPitch(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Pitch Status Signal Object

GetQuatW(bool)

The W component of the reported Quaternion.

  • Minimum Value-1.0001220852154804
  • Maximum Value1.0
  • Default Value0
  • Units

Default Rates:

  • CAN 2.050.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetQuatW(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

QuatW Status Signal Object

GetQuatX(bool)

The X component of the reported Quaternion.

  • Minimum Value-1.0001220852154804
  • Maximum Value1.0
  • Default Value0
  • Units

Default Rates:

  • CAN 2.050.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetQuatX(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

QuatX Status Signal Object

GetQuatY(bool)

The Y component of the reported Quaternion.

  • Minimum Value-1.0001220852154804
  • Maximum Value1.0
  • Default Value0
  • Units

Default Rates:

  • CAN 2.050.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetQuatY(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

QuatY Status Signal Object

GetQuatZ(bool)

The Z component of the reported Quaternion.

  • Minimum Value-1.0001220852154804
  • Maximum Value1.0
  • Default Value0
  • Units

Default Rates:

  • CAN 2.050.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetQuatZ(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

QuatZ Status Signal Object

GetRawMagneticFieldX(bool)

The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction. This is only valid after performing a magnetometer calibration.

  • Minimum Value-19660.8
  • Maximum Value19660.2
  • Default Value0
  • UnitsuT

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetRawMagneticFieldX(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

RawMagneticFieldX Status Signal Object

GetRawMagneticFieldY(bool)

The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. This is only valid after performing a magnetometer calibration.

  • Minimum Value-19660.8
  • Maximum Value19660.2
  • Default Value0
  • UnitsuT

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetRawMagneticFieldY(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

RawMagneticFieldY Status Signal Object

GetRawMagneticFieldZ(bool)

The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. This is only valid after performing a magnetometer calibration.

  • Minimum Value-19660.8
  • Maximum Value19660.2
  • Default Value0
  • UnitsuT

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetRawMagneticFieldZ(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

RawMagneticFieldZ Status Signal Object

GetRoll(bool)

Current reported roll of the Pigeon2.

  • Minimum Value-180.0
  • Maximum Value179.9560546875
  • Default Value0
  • Unitsdeg

Default Rates:

  • CAN 2.0100.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetRoll(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Roll Status Signal Object

GetStickyFaultField(bool)

Integer representing all (persistent) sticky fault flags reported by the device.

These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.
  • Minimum Value0
  • Maximum Value4294967295
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetStickyFaultField(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

StickyFaultField Status Signal Object

GetStickyFault_BootDuringEnable(bool)

Device boot while detecting the enable signal

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_BootDuringEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BootDuringEnable Status Signal Object

GetStickyFault_BootIntoMotion(bool)

Motion Detected during bootup.

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_BootIntoMotion(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BootIntoMotion Status Signal Object

GetStickyFault_BootupAccelerometer(bool)

Bootup checks failed: Accelerometer

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_BootupAccelerometer(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BootupAccelerometer Status Signal Object

GetStickyFault_BootupGyroscope(bool)

Bootup checks failed: Gyroscope

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_BootupGyroscope(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BootupGyroscope Status Signal Object

GetStickyFault_BootupMagnetometer(bool)

Bootup checks failed: Magnetometer

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_BootupMagnetometer(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BootupMagnetometer Status Signal Object

GetStickyFault_DataAcquiredLate(bool)

Motion stack data acquisition was slower than expected

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_DataAcquiredLate(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_DataAcquiredLate Status Signal Object

GetStickyFault_Hardware(bool)

Hardware fault occurred

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_Hardware(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_Hardware Status Signal Object

GetStickyFault_LoopTimeSlow(bool)

Motion stack loop time was slower than expected.

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_LoopTimeSlow(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_LoopTimeSlow Status Signal Object

GetStickyFault_SaturatedAccelerometer(bool)

Accelerometer values are saturated

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_SaturatedAccelerometer(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_SaturatedAccelerometer Status Signal Object

GetStickyFault_SaturatedGyroscope(bool)

Gyroscope values are saturated

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_SaturatedGyroscope(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_SaturatedGyroscope Status Signal Object

GetStickyFault_SaturatedMagnetometer(bool)

Magnetometer values are saturated

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_SaturatedMagnetometer(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_SaturatedMagnetometer Status Signal Object

GetStickyFault_Undervoltage(bool)

Device supply voltage dropped to near brownout levels

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_Undervoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_Undervoltage Status Signal Object

GetStickyFault_UnlicensedFeatureInUse(bool)

An unlicensed feature is in use, device may not behave as expected.

  • Default ValueFalse

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetStickyFault_UnlicensedFeatureInUse(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_UnlicensedFeatureInUse Status Signal Object

GetSupplyVoltage(bool)

Measured supply voltage to the Pigeon2.

  • Minimum Value0.0
  • Maximum Value31.99951171875
  • Default Value0
  • UnitsV

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetSupplyVoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

SupplyVoltage Status Signal Object

GetTemperature(bool)

Temperature of the Pigeon 2.

  • Minimum Value-128.0
  • Maximum Value127.99609375
  • Default Value0
  • Units℃

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetTemperature(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Temperature Status Signal Object

GetTemperatureCompensationDisabled(bool)

Whether the temperature-compensation feature is disabled.

  • Default Value0

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<bool> GetTemperatureCompensationDisabled(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

TemperatureCompensationDisabled Status Signal Object

GetUpTime(bool)

How long the Pigeon 2's been up in seconds, caps at 255 seconds.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Unitss

Default Rates:

  • CAN 2.04.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetUpTime(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

UpTime Status Signal Object

GetVersion(bool)

Full Version of firmware in device. The format is a four byte value.

  • Minimum Value0
  • Maximum Value4294967295
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetVersion(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

Version Status Signal Object

GetVersionBugfix(bool)

App Bugfix Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetVersionBugfix(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionBugfix Status Signal Object

GetVersionBuild(bool)

App Build Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetVersionBuild(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionBuild Status Signal Object

GetVersionMajor(bool)

App Major Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetVersionMajor(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionMajor Status Signal Object

GetVersionMinor(bool)

App Minor Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

Default Rates:

  • CAN4.0 Hz

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<int> GetVersionMinor(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionMinor Status Signal Object

GetYaw(bool)

Current reported yaw of the Pigeon2.

  • Minimum Value-368640.0
  • Maximum Value368639.99725341797
  • Default Value0
  • Unitsdeg

Default Rates:

  • CAN 2.0100.0 Hz
  • CAN FD100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object. 
public StatusSignal<double> GetYaw(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Yaw Status Signal Object

SetControl(ControlRequest)

Control device with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode 
public StatusCode SetControl(ControlRequest request)

Parameters

request ControlRequest

Control object to request of the device

Returns

StatusCode

Status Code of the request, 0 is OK

SetYaw(double, double)

The yaw to set the Pigeon2 to right now.

public StatusCode SetYaw(double newValue, double timeoutSeconds = 0.1)

Parameters

newValue double

Value to set to. Units are in deg.

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command