stm32mpu6050姿态解算得到欧拉角完整代码
时间: 2024-04-21 14:21:13 浏览: 283
当使用STM32和MPU6050进行态解算时,可以使用以下代码来获取拉角:
```c
#include <Wire.h>
#include <MPU6050.h>
#include <2Cdev.h>
MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz;
void setup() {
Wire.begin();
Serial.begin(9600);
mpu.initialize();
mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
}
void loop() {
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
float accelX = ax / 16384.0;
float accelY = ay / 16384.0;
float accelZ = az / 16384.0;
float gyroX = gx / 131.0;
float gyroY = gy / 131.0;
float gyroZ = gz / 131.0;
float roll = atan2(accelY, accelZ) * 180 / PI;
float pitch = atan(-accelX / sqrt(accelY * accelY + accelZ * accelZ)) * 180 / PI;
float yaw = gyroZ;
Serial.print("Roll: ");
Serial.print(roll);
Serial.print(" Pitch: ");
Serial.print(pitch);
Serial.print(" Yaw: ");
Serial.println(yaw);
delay(100);
}
```
这段代码使用了MPU6050库来读取加速度计和陀螺仪的原始数据,并通过欧拉角公式计算出Roll、Pitch和Yaw角度。注意,需要先安装MPU6050库。
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