帮我写个arduino mpu6050姿态结算代码，用到卡尔曼滤波库

好的，我可以回答这个问题。以下是一个简单的 Arduino MPU605 姿态结算代码，使用了卡尔曼滤波库：

#include <Wire.h>
#include <Kalman.h>
#include <MPU605.h>

Kalman kalmanX; // Create the Kalman instances
Kalman kalmanY;

MPU605 mpu;

double accX, accY, accZ;
double gyroX, gyroY, gyroZ;
double roll, pitch;

void setup() {
Serial.begin(960);
Wire.begin();
mpu.initialize();
kalmanX.setAngle(roll); // Set starting angle
kalmanY.setAngle(pitch);
}

void loop() {
mpu.getMotion6(&accX, &accY, &accZ, &gyroX, &gyroY, &gyroZ);

double dt = (double)(micros() - timer) / 100000; // Calculate delta time
timer = micros();

roll = kalmanX.getAngle(roll, gyroX, dt); // Calculate the angle using a Kalman filter
pitch = kalmanY.getAngle(pitch, gyroY, dt);

Serial.print("Roll: ");
Serial.print(roll);
Serial.print(" Pitch: ");
Serial.println(pitch);
}

请注意，这只是一个简单的示例代码，您可能需要根据您的具体需求进行修改。