继上次读MPU6050的数据,作个补充,这次是读姿态角输出.内容简单易懂,标注齐全.

2019-07-20 15:58发布

上次上传了个MPU6050的读加速度角速度, 这次上传把加速度,角速度解算为姿态角.(德国人的方法解算,具体麻烦各位自己看数学叉积,四元数等).

代码比较少,干净,都有注释.
依旧是串口输出,因为这里是每一轮循环延迟10ms. 而且精度比较高(用了很多float,对于飞来说我觉得是没问题的,51的我就用的float 一样fly(●'?'●)). 如果你测试觉得不够快又允许一定误差,可以用Int整型.

注意:这里我并没有处理“静止”时的噪音,里面的角速度误差调整量gx,gy,gz并没有赋值. So,各位请自行添加: 常规办法比如开机,读100次x的角速度累加再除以100,得到平均误差赋值给gx即可.


原料: 原子哥的Stm32F4开发板(我是今年9月买的板子).  MPU6050一个,杜邦线4条.电脑一台.hex文件一发.

用法:用原子哥教的FlyMcu 飞一会儿.(下载完). 打开串口即可看到x,y轴的姿态角.


 




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liarlaker
1楼-- · 2019-07-24 02:49
本帖最后由 liarlaker 于 2016-3-8 16:16 编辑

楼主,我用你的程序,板子放在桌子上不动,为啥输出数据一直跑呢?

x:0.085758
y:0.090364

x:0.139571
y:0.064811

x:0.159081
y:0.029631

x:0.188537
y:0.048975

x:0.209407
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x:0.234662
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y:0.019395

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x:-1.696913
y:1.729478

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y:1.740880

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y:1.752716

x:-1.492592
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y:1.776294

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x:-1.091506
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x:-1.026214
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x:-0.961171
y:1.858184

x:-0.896964
y:1.868801

x:-0.833311
y:1.878595

x:-0.768934
y:1.889265

x:-0.705284
y:1.901338

x:-0.641845
y:1.911731

x:-0.578891
y:1.923006

x:-0.516791
y:1.933588

x:-0.454495
y:1.944516

x:-0.392809
y:1.955305

x:-0.331219
y:1.965908

x:-0.270304
y:1.976902

x:-0.209340
y:1.986335

x:-0.149224
y:1.997236

x:-0.090514
y:2.008207

x:-0.037214
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x:0.018655
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x:0.075749
y:2.023648

x:0.133968






xp_peng2016
2楼-- · 2019-07-24 03:56
liarlaker 发表于 2016-3-8 15:46
楼主,我用你的程序,板子放在桌子上不动,为啥输出数据一直跑呢?

x:0.085758

你这刷屏的   过份了
liarlaker
3楼-- · 2019-07-24 08:28
xp_peng2016 发表于 2016-3-8 16:17
你这刷屏的   过份了

我已经删了好多了,为了保证数据完整性,还是有点长,见谅
tongjinlv
4楼-- · 2019-07-24 10:53
 精彩回答 2  元偷偷看……
tongjinlv
5楼-- · 2019-07-24 12:05
 精彩回答 2  元偷偷看……

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