phoenix6.hardware.core.core_pigeon2

Module Contents

class phoenix6.hardware.core.core_pigeon2.CorePigeon2(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')

Bases: phoenix6.hardware.parent_device.ParentDevice

Constructs a new Pigeon 2 sensor object.

Parameters:
  • device_id (int) – ID of the device, as configured in Phoenix Tuner.

  • canbus (str | CANBus, optional) –

    Name of the CAN bus this device is on. Possible CAN bus strings are:

    • ”rio” for the native roboRIO CAN bus

    • 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:

      • ”rio” on roboRIO

      • ”can0” on Linux

      • ”*” on Windows

property sim_state: phoenix6.sim.pigeon2_sim_state.Pigeon2SimState

Get 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.

Returns:

Simulation state

Return type:

Pigeon2SimState

get_version_major(refresh: bool = True) phoenix6.status_signal.StatusSignal[int]

App Major Version number.

  • Minimum Value: 0

  • Maximum Value: 255

  • Default Value: 0

  • Units:

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

VersionMajor Status Signal Object

Return type:

StatusSignal[int]

get_version_minor(refresh: bool = True) phoenix6.status_signal.StatusSignal[int]

App Minor Version number.

  • Minimum Value: 0

  • Maximum Value: 255

  • Default Value: 0

  • Units:

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

VersionMinor Status Signal Object

Return type:

StatusSignal[int]

get_version_bugfix(refresh: bool = True) phoenix6.status_signal.StatusSignal[int]

App Bugfix Version number.

  • Minimum Value: 0

  • Maximum Value: 255

  • Default Value: 0

  • Units:

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

VersionBugfix Status Signal Object

Return type:

StatusSignal[int]

get_version_build(refresh: bool = True) phoenix6.status_signal.StatusSignal[int]

App Build Version number.

  • Minimum Value: 0

  • Maximum Value: 255

  • Default Value: 0

  • Units:

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

VersionBuild Status Signal Object

Return type:

StatusSignal[int]

get_version(refresh: bool = True) phoenix6.status_signal.StatusSignal[int]

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

  • Minimum Value: 0

  • Maximum Value: 4294967295

  • Default Value: 0

  • Units:

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Version Status Signal Object

Return type:

StatusSignal[int]

get_fault_field(refresh: bool = True) phoenix6.status_signal.StatusSignal[int]

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 Value: 0

  • Maximum Value: 4294967295

  • Default Value: 0

  • Units:

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

FaultField Status Signal Object

Return type:

StatusSignal[int]

get_sticky_fault_field(refresh: bool = True) phoenix6.status_signal.StatusSignal[int]

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 Value: 0

  • Maximum Value: 4294967295

  • Default Value: 0

  • Units:

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFaultField Status Signal Object

Return type:

StatusSignal[int]

get_yaw(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree]

Current reported yaw of the Pigeon2.

  • Minimum Value: -368640.0

  • Maximum Value: 368639.99725341797

  • Default Value: 0

  • Units: deg

Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Yaw Status Signal Object

Return type:

StatusSignal[degree]

get_pitch(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree]

Current reported pitch of the Pigeon2.

  • Minimum Value: -90.0

  • Maximum Value: 89.9560546875

  • Default Value: 0

  • Units: deg

Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Pitch Status Signal Object

Return type:

StatusSignal[degree]

get_roll(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree]

Current reported roll of the Pigeon2.

  • Minimum Value: -180.0

  • Maximum Value: 179.9560546875

  • Default Value: 0

  • Units: deg

Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Roll Status Signal Object

Return type:

StatusSignal[degree]

get_quat_w(refresh: bool = True) phoenix6.status_signal.StatusSignal[float]

The W component of the reported Quaternion.

  • Minimum Value: -1.0001220852154804

  • Maximum Value: 1.0

  • Default Value: 0

  • Units:

Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

QuatW Status Signal Object

Return type:

StatusSignal[float]

get_quat_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[float]

The X component of the reported Quaternion.

  • Minimum Value: -1.0001220852154804

  • Maximum Value: 1.0

  • Default Value: 0

  • Units:

Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

QuatX Status Signal Object

Return type:

StatusSignal[float]

get_quat_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[float]

The Y component of the reported Quaternion.

  • Minimum Value: -1.0001220852154804

  • Maximum Value: 1.0

  • Default Value: 0

  • Units:

Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

QuatY Status Signal Object

Return type:

StatusSignal[float]

get_quat_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[float]

The Z component of the reported Quaternion.

  • Minimum Value: -1.0001220852154804

  • Maximum Value: 1.0

  • Default Value: 0

  • Units:

Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

QuatZ Status Signal Object

Return type:

StatusSignal[float]

get_gravity_vector_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[float]

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 Value: 1.0

  • Default Value: 0

  • Units:

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

GravityVectorX Status Signal Object

Return type:

StatusSignal[float]

get_gravity_vector_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[float]

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 Value: 1.0

  • Default Value: 0

  • Units:

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

GravityVectorY Status Signal Object

Return type:

StatusSignal[float]

get_gravity_vector_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[float]

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 Value: 1.0

  • Default Value: 0

  • Units:

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

GravityVectorZ Status Signal Object

Return type:

StatusSignal[float]

get_temperature(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]

Temperature of the Pigeon 2.

  • Minimum Value: -128.0

  • Maximum Value: 127.99609375

  • Default Value: 0

  • Units: ℃

Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Temperature Status Signal Object

Return type:

StatusSignal[celsius]

get_no_motion_enabled(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Whether the no-motion calibration feature is enabled.

  • Default Value: 0

Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

NoMotionEnabled Status Signal Object

Return type:

StatusSignal[bool]

get_no_motion_count(refresh: bool = True) phoenix6.status_signal.StatusSignal[float]

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

  • Minimum Value: 0

  • Maximum Value: 15

  • Default Value: 0

  • Units:

Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

NoMotionCount Status Signal Object

Return type:

StatusSignal[float]

get_temperature_compensation_disabled(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Whether the temperature-compensation feature is disabled.

  • Default Value: 0

Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

TemperatureCompensationDisabled Status Signal Object

Return type:

StatusSignal[bool]

get_up_time(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.second]

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

  • Minimum Value: 0

  • Maximum Value: 255

  • Default Value: 0

  • Units: s

Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

UpTime Status Signal Object

Return type:

StatusSignal[second]

get_accum_gyro_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree]

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

  • Minimum Value: -23040.0

  • Maximum Value: 23039.9560546875

  • Default Value: 0

  • Units: deg

Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AccumGyroX Status Signal Object

Return type:

StatusSignal[degree]

get_accum_gyro_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree]

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

  • Minimum Value: -23040.0

  • Maximum Value: 23039.9560546875

  • Default Value: 0

  • Units: deg

Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AccumGyroY Status Signal Object

Return type:

StatusSignal[degree]

get_accum_gyro_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree]

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

  • Minimum Value: -23040.0

  • Maximum Value: 23039.9560546875

  • Default Value: 0

  • Units: deg

Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AccumGyroZ Status Signal Object

Return type:

StatusSignal[degree]

get_angular_velocity_x_world(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]

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 Value: 2047.99609375

  • Default Value: 0

  • Units: dps

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AngularVelocityXWorld Status Signal Object

Return type:

StatusSignal[degrees_per_second]

get_angular_velocity_y_world(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]

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 Value: 2047.99609375

  • Default Value: 0

  • Units: dps

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AngularVelocityYWorld Status Signal Object

Return type:

StatusSignal[degrees_per_second]

get_angular_velocity_z_world(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]

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 Value: 2047.99609375

  • Default Value: 0

  • Units: dps

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AngularVelocityZWorld Status Signal Object

Return type:

StatusSignal[degrees_per_second]

get_acceleration_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.g]

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 Value: 1.99993896484375

  • Default Value: 0

  • Units: g

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AccelerationX Status Signal Object

Return type:

StatusSignal[g]

get_acceleration_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.g]

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 Value: 1.99993896484375

  • Default Value: 0

  • Units: g

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AccelerationY Status Signal Object

Return type:

StatusSignal[g]

get_acceleration_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.g]

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 Value: 1.99993896484375

  • Default Value: 0

  • Units: g

Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AccelerationZ Status Signal Object

Return type:

StatusSignal[g]

get_supply_voltage(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.volt]

Measured supply voltage to the Pigeon2.

  • Minimum Value: 0.0

  • Maximum Value: 31.99951171875

  • Default Value: 0

  • Units: V

Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

SupplyVoltage Status Signal Object

Return type:

StatusSignal[volt]

get_angular_velocity_x_device(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]

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 Value: 1997.987804878049

  • Default Value: 0

  • Units: dps

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AngularVelocityXDevice Status Signal Object

Return type:

StatusSignal[degrees_per_second]

get_angular_velocity_y_device(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]

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 Value: 1997.987804878049

  • Default Value: 0

  • Units: dps

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AngularVelocityYDevice Status Signal Object

Return type:

StatusSignal[degrees_per_second]

get_angular_velocity_z_device(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]

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 Value: 1997.987804878049

  • Default Value: 0

  • Units: dps

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

AngularVelocityZDevice Status Signal Object

Return type:

StatusSignal[degrees_per_second]

get_magnetic_field_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]

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 Value: 19660.2

  • Default Value: 0

  • Units: uT

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

MagneticFieldX Status Signal Object

Return type:

StatusSignal[microtesla]

get_magnetic_field_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]

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 Value: 19660.2

  • Default Value: 0

  • Units: uT

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

MagneticFieldY Status Signal Object

Return type:

StatusSignal[microtesla]

get_magnetic_field_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]

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 Value: 19660.2

  • Default Value: 0

  • Units: uT

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

MagneticFieldZ Status Signal Object

Return type:

StatusSignal[microtesla]

get_raw_magnetic_field_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]

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 Value: 19660.2

  • Default Value: 0

  • Units: uT

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

RawMagneticFieldX Status Signal Object

Return type:

StatusSignal[microtesla]

get_raw_magnetic_field_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]

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 Value: 19660.2

  • Default Value: 0

  • Units: uT

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

RawMagneticFieldY Status Signal Object

Return type:

StatusSignal[microtesla]

get_raw_magnetic_field_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]

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 Value: 19660.2

  • Default Value: 0

  • Units: uT

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

RawMagneticFieldZ Status Signal Object

Return type:

StatusSignal[microtesla]

get_is_pro_licensed(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Whether the device is Phoenix Pro licensed.

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

IsProLicensed Status Signal Object

Return type:

StatusSignal[bool]

get_fault_hardware(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Hardware fault occurred

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_Hardware Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_hardware(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Hardware fault occurred

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_Hardware Status Signal Object

Return type:

StatusSignal[bool]

get_fault_undervoltage(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Device supply voltage dropped to near brownout levels

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_Undervoltage Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_undervoltage(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Device supply voltage dropped to near brownout levels

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_Undervoltage Status Signal Object

Return type:

StatusSignal[bool]

get_fault_boot_during_enable(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Device boot while detecting the enable signal

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_BootDuringEnable Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_boot_during_enable(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Device boot while detecting the enable signal

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_BootDuringEnable Status Signal Object

Return type:

StatusSignal[bool]

get_fault_unlicensed_feature_in_use(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

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

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_UnlicensedFeatureInUse Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

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

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_UnlicensedFeatureInUse Status Signal Object

Return type:

StatusSignal[bool]

get_fault_bootup_accelerometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Bootup checks failed: Accelerometer

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_BootupAccelerometer Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_bootup_accelerometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Bootup checks failed: Accelerometer

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_BootupAccelerometer Status Signal Object

Return type:

StatusSignal[bool]

get_fault_bootup_gyroscope(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Bootup checks failed: Gyroscope

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_BootupGyroscope Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_bootup_gyroscope(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Bootup checks failed: Gyroscope

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_BootupGyroscope Status Signal Object

Return type:

StatusSignal[bool]

get_fault_bootup_magnetometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Bootup checks failed: Magnetometer

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_BootupMagnetometer Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_bootup_magnetometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Bootup checks failed: Magnetometer

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_BootupMagnetometer Status Signal Object

Return type:

StatusSignal[bool]

get_fault_boot_into_motion(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Motion Detected during bootup.

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_BootIntoMotion Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_boot_into_motion(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Motion Detected during bootup.

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_BootIntoMotion Status Signal Object

Return type:

StatusSignal[bool]

get_fault_data_acquired_late(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Motion stack data acquisition was slower than expected

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_DataAcquiredLate Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_data_acquired_late(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Motion stack data acquisition was slower than expected

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_DataAcquiredLate Status Signal Object

Return type:

StatusSignal[bool]

get_fault_loop_time_slow(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Motion stack loop time was slower than expected.

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_LoopTimeSlow Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_loop_time_slow(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Motion stack loop time was slower than expected.

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_LoopTimeSlow Status Signal Object

Return type:

StatusSignal[bool]

get_fault_saturated_magnetometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Magnetometer values are saturated

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_SaturatedMagnetometer Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_saturated_magnetometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Magnetometer values are saturated

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_SaturatedMagnetometer Status Signal Object

Return type:

StatusSignal[bool]

get_fault_saturated_accelerometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Accelerometer values are saturated

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_SaturatedAccelerometer Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_saturated_accelerometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Accelerometer values are saturated

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_SaturatedAccelerometer Status Signal Object

Return type:

StatusSignal[bool]

get_fault_saturated_gyroscope(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Gyroscope values are saturated

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_SaturatedGyroscope Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_saturated_gyroscope(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Gyroscope values are saturated

  • Default Value: False

Default Rates: - CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_SaturatedGyroscope Status Signal Object

Return type:

StatusSignal[bool]

set_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) phoenix6.status_signal.StatusCode
set_yaw(new_value: phoenix6.units.degree, timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

The yaw to set the Pigeon2 to right now.

Parameters:
  • new_value (degree) – Value to set to. Units are in deg.

  • timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

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.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Hardware fault occurred

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

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

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Device boot while detecting the enable signal

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

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

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_bootup_accelerometer(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Bootup checks failed: Accelerometer

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_bootup_gyroscope(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Bootup checks failed: Gyroscope

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_bootup_magnetometer(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Bootup checks failed: Magnetometer

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_boot_into_motion(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Motion Detected during bootup.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_data_acquired_late(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

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

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_loop_time_slow(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

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

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_saturated_magnetometer(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Magnetometer values are saturated

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_saturated_accelerometer(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Accelerometer values are saturated

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_saturated_gyroscope(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Gyroscope values are saturated

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode