mpu6050校正例程
时间: 2023-06-12 17:04:32 浏览: 58
以下是一个简单的MPU6050校准例程:
```
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz;
int16_t ax_offset, ay_offset, az_offset;
int16_t gx_offset, gy_offset, gz_offset;
int16_t ax_calibrated, ay_calibrated, az_calibrated;
int16_t gx_calibrated, gy_calibrated, gz_calibrated;
void setup() {
Wire.begin();
Serial.begin(9600);
mpu.initialize();
Serial.println("Calibrating MPU6050... Please keep the unit still and level.");
delay(3000);
for (int i = 0; i < 2000; i++) {
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
ax_offset += ax;
ay_offset += ay;
az_offset += az;
gx_offset += gx;
gy_offset += gy;
gz_offset += gz;
delay(3);
}
ax_offset /= 2000;
ay_offset /= 2000;
az_offset /= 2000;
gx_offset /= 2000;
gy_offset /= 2000;
gz_offset /= 2000;
Serial.print("Offsets: ");
Serial.print(ax_offset);
Serial.print(", ");
Serial.print(ay_offset);
Serial.print(", ");
Serial.print(az_offset);
Serial.print(", ");
Serial.print(gx_offset);
Serial.print(", ");
Serial.print(gy_offset);
Serial.print(", ");
Serial.println(gz_offset);
}
void loop() {
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
ax_calibrated = ax - ax_offset;
ay_calibrated = ay - ay_offset;
az_calibrated = az - az_offset;
gx_calibrated = gx - gx_offset;
gy_calibrated = gy - gy_offset;
gz_calibrated = gz - gz_offset;
Serial.print("Calibrated values: ");
Serial.print(ax_calibrated);
Serial.print(", ");
Serial.print(ay_calibrated);
Serial.print(", ");
Serial.print(az_calibrated);
Serial.print(", ");
Serial.print(gx_calibrated);
Serial.print(", ");
Serial.print(gy_calibrated);
Serial.print(", ");
Serial.println(gz_calibrated);
delay(100);
}
```
这个例程使用了 `MPU6050` 库来读取原始的加速度和陀螺仪数据,并计算出校准值。在 `setup()` 函数中,我们进行了校准,并将校准值保存到变量中。在 `loop()` 函数中,我们读取原始值并减去校准值,得到校准后的值。