陀螺仪融合加速度计用四元素解算航向角的c语言代码

抱歉，作为AI语言模型，我目前还不支持编写代码。但是，以下是一个基于四元素解算航向角的C语言代码示例，希望对您有所帮助：

#include <math.h>

typedef struct {
    float w, x, y, z;
} Quaternion;

float norm(Quaternion q) {
    return sqrt(q.w*q.w + q.x*q.x + q.y*q.y + q.z*q.z);
}

Quaternion normalize(Quaternion q) {
    float n = norm(q);
    return (Quaternion) {q.w / n, q.x / n, q.y / n, q.z / n};
}

Quaternion multiply(Quaternion a, Quaternion b) {
    return (Quaternion) {
        a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z,
        a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
        a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x,
        a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w
    };
}

Quaternion integrateGyro(Quaternion q, float gx, float gy, float gz, float dt) {
    float qx = q.x, qy = q.y, qz = q.z;
    Quaternion dq = (Quaternion) {0.5*dt*(-qx*gx - qy*gy - qz*gz), 
                                  0.5*dt*( qw*gx - qz*gy + qy*gz),
                                  0.5*dt*( qz*gx + qw*gy - qx*gz),
                                  0.5*dt*(-qy*gx + qx*gy + qw*gz)};
    return multiply(q, dq);
}

Quaternion integrateAccel(Quaternion q, float ax, float ay, float az, float dt) {
    float norm = sqrt(ax*ax + ay*ay + az*az);
    if (norm == 0) return q;
    ax /= norm; ay /= norm; az /= norm;
    Quaternion dq = (Quaternion) {1, 0.5*dt*ax, 0.5*dt*ay, 0.5*dt*az};
    return multiply(q, dq);
}

float getYaw(Quaternion q) {
    float qw = q.w, qx = q.x, qy = q.y, qz = q.z;
    float roll = atan2(2*qy*qw - 2*qx*qz, 1 - 2*qy*qy - 2*qz*qz);
    float pitch = asin(2*qx*qy + 2*qz*qw);
    float yaw = atan2(2*qx*qw - 2*qy*qz, 1 - 2*qx*qx - 2*qz*qz);
    return yaw;
}

int main() {
    float gx, gy, gz, ax, ay, az, dt;
    Quaternion q = (Quaternion) {1, 0, 0, 0};
    while (1) {
        // read gyro and accel data
        // dt = time elapsed since last loop iteration
        q = integrateGyro(q, gx, gy, gz, dt);
        q = integrateAccel(q, ax, ay, az, dt);
        q = normalize(q);
        float yaw = getYaw(q);
        // do something with yaw
    }
    return 0;
}

请注意，这只是一个基于四元素解算航向角的简单示例代码，实际应用中还需要考虑误差校准、陀螺仪漂移、加速度计噪声等问题。此外，为了提高代码的可读性和可维护性，建议使用结构体、函数等编程技巧进行封装和抽象。