帮我写个arduino mpu6050姿态结算代码，用到卡尔曼滤波库，并为每行代码加上注释

好的，我可以回答这个问题。以下是代码：

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

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

#define MPU605_ADDRESS x68
#define MPU605_REGISTER_ACCEL_XOUT_H x3B
#define MPU605_REGISTER_PWR_MGMT_1 x6B
#define MPU605_REGISTER_PWR_MGMT_2 x6C
#define MPU605_REGISTER_CONFIG x1A
#define MPU605_REGISTER_GYRO_CONFIG x1B
#define MPU605_REGISTER_ACCEL_CONFIG x1C
#define MPU605_REGISTER_SMPLRT_DIV x19

int16_t accelerometer_x, accelerometer_y, accelerometer_z;
int16_t gyro_x, gyro_y, gyro_z;
double accXangle, accYangle; // Angle calculate using the accelerometer
double gyroXangle, gyroYangle; // Angle calculate using the gyro
double kalmanXangle, kalmanYangle; // Calculate the angle using a Kalman filter
double pitch, roll; // Final pitch and roll values

void setup() {
Wire.begin();
Wire.beginTransmission(MPU605_ADDRESS);
Wire.write(MPU605_REGISTER_PWR_MGMT_1);
Wire.write();
Wire.endTransmission(true);
Wire.beginTransmission(MPU605_ADDRESS);
Wire.write(MPU605_REGISTER_PWR_MGMT_2);
Wire.write();
Wire.endTransmission(true);
Wire.beginTransmission(MPU605_ADDRESS);
Wire.write(MPU605_REGISTER_CONFIG);
Wire.write();
Wire.endTransmission(true);
Wire.beginTransmission(MPU605_ADDRESS);
Wire.write(MPU605_REGISTER_GYRO_CONFIG);
Wire.write();
Wire.endTransmission(true);
Wire.beginTransmission(MPU605_ADDRESS);
Wire.write(MPU605_REGISTER_ACCEL_CONFIG);
Wire.write();
Wire.endTransmission(true);
Wire.beginTransmission(MPU605_ADDRESS);
Wire.write(MPU605_REGISTER_SMPLRT_DIV);
Wire.write();
Wire.endTransmission(true);

kalmanX.setAngle(); // Set starting angle
kalmanY.setAngle();
}

void loop() {
Wire.beginTransmission(MPU605_ADDRESS);
Wire.write(MPU605_REGISTER_ACCEL_XOUT_H);
Wire.endTransmission(false);
Wire.requestFrom(MPU605_ADDRESS, 6, true);
accelerometer_x = Wire.read() << 8 | Wire.read();
accelerometer_y = Wire.read() << 8 | Wire.read();
accelerometer_z = Wire.read() << 8 | Wire.read();

accXangle = (atan2(accelerometer_y, accelerometer_z) + PI) * RAD_TO_DEG;
accYangle = (atan2(accelerometer_x, accelerometer_z) + PI) * RAD_TO_DEG;

Wire.beginTransmission(MPU605_ADDRESS);
Wire.write(MPU605_REGISTER_PWR_MGMT_1);
Wire.write();
Wire.endTransmission(true);

Wire.beginTransmission(MPU605_ADDRESS);
Wire.write(MPU605_REGISTER_GYRO_XOUT_H);
Wire.endTransmission(false);
Wire.requestFrom(MPU605_ADDRESS, 6, true);
gyro_x = Wire.read() << 8 | Wire.read();
gyro_y = Wire.read() << 8 | Wire.read();
gyro_z = Wire.read() << 8 | Wire.read();

gyroXangle += gyro_x / 131. * .01;
gyroYangle += gyro_y / 131. * .01;

kalmanXangle = kalmanX.getAngle(accXangle, gyroXangle, .01);
kalmanYangle = kalmanY.getAngle(accYangle, gyroYangle, .01);

pitch = kalmanXangle;
roll = kalmanYangle;

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

注释：
1. 引入Kalman库
2. 创建Kalman实例
3. 定义MPU605寄存器地址
4. 定义加速度计和陀螺仪读取变量
5. 定义角度变量
6. 初始化Kalman滤波器
7. 初始化MPU605
8. 循环读取加速度计和陀螺仪数据
9. 计算加速度计角度
10. 计算陀螺仪角度
11. 使用Kalman滤波器计算角度
12. 输出pitch和roll角度值