# MT6835 Angle sensor 21bit **URL:** https://community.simplefoc.com/t/mt6835-angle-sensor-21bit/2910 **Category:** hardware support **Created:** [January 30, 2023, 8:54am UTC](https://community.simplefoc.com/t/mt6835-angle-sensor-21bit/2910 "2023-01-30T08:54:12Z") **Posts on this page:** 1 **Showing post:** 60
### Author: ![Backflip](https://community.simplefoc.com/letter_avatar_proxy/v4/letter/b/df705f/32.png) [@Backflip](https://community.simplefoc.com/u/Backflip) #### Post date: [May 6, 2026, 1:58pm UTC](https://community.simplefoc.com/t/mt6835-angle-sensor-21bit/2910/60 "2026-05-06T13:58:27Z")
Thank you for all the information here. I am not sure, that I read and understood all of it. I have read the datasheet of the MT6835 and got two issues with questions: It seems that the sensor got some moving average filter function, and it is set by a programable BW parameter (see page 37 in datasheet). The factory default setting is 5. How do the sensor actually do this filtering in more specific terms? How is the filter changed by the BW parameter? I read this other thread with some MT6835 information: > [@Motor runaway in Current Mode - Potential Phase Lag or Offset Error](https://community.simplefoc.com/t/motor-runaway-in-current-mode-potential-phase-lag-or-offset-error/8056/10): > > The motor was about to run away due to latency caused by a filter on the MT6835. The datasheet specifies that the factory setting has a propagation delay of 100 µs, but the filter was likely changed by the seller. This resulted in a 2 ms latency, causing an incorrect angle reading. It seems that BW=5 cause a 2 ms latency, but it is not specific. Another question is about how the sensor work. The AMS sensor like AS5047 got an internal clock with a cycle time between 90 and 110 us. So in a cycle the internal hall sensors output are sampled, ADC takes place, and calculations take place. When you issue the SPI command, the latest calculated angle or filtered angle can be read. I guess that the MT6835 works in a similar way - do you agree? What is the cycle time of the MT6835? Are you able to synchronize your SPI-reading to its internal cycle? --- _[View the full topic](https://community.simplefoc.com/t/mt6835-angle-sensor-21bit/2910)._