去除陀螺仪零飘温漂例程

陀螺仪的零飘和温漂是普遍存在的问题，需要进行校准处理。以下是一份去除陀螺仪零飘和温漂的例程：

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_L3GD20.h>

#define GYROSCOPE_SENSITIVITY 0.00875

Adafruit_L3GD20 gyro;

float x_offset, y_offset, z_offset;

void setup() {
  Serial.begin(9600);
  Wire.begin();
  gyro.enableAutoRange(true);
  gyro.begin(L3DS20_RANGE_500DPS);
  calibrate_gyroscope();
}

void loop() {
  sensors_event_t event;
  gyro.getEvent(&event);
  float x_raw = event.gyro.x;
  float y_raw = event.gyro.y;
  float z_raw = event.gyro.z;
  float x = x_raw - x_offset;
  float y = y_raw - y_offset;
  float z = z_raw - z_offset;
  x *= GYROSCOPE_SENSITIVITY;
  y *= GYROSCOPE_SENSITIVITY;
  z *= GYROSCOPE_SENSITIVITY;
  Serial.print("X: ");
  Serial.print(x);
  Serial.print(", Y: ");
  Serial.print(y);
  Serial.print(", Z: ");
  Serial.println(z);
  delay(100);
}

void calibrate_gyroscope() {
  Serial.println("Calibrating gyroscope...");
  int samples = 500;
  float x_sum = 0, y_sum = 0, z_sum = 0;
  for (int i = 0; i < samples; i++) {
    sensors_event_t event;
    gyro.getEvent(&event);
    x_sum += event.gyro.x;
    y_sum += event.gyro.y;
    z_sum += event.gyro.z;
    delay(10);
  }
  x_offset = x_sum / samples;
  y_offset = y_sum / samples;
  z_offset = z_sum / samples;
  Serial.print("X offset: ");
  Serial.println(x_offset);
  Serial.print("Y offset: ");
  Serial.println(y_offset);
  Serial.print("Z offset: ");
  Serial.println(z_offset);
}

该例程使用了 Adafruit_L3GD20 库读取陀螺仪数据，并通过 calibrate_gyroscope() 函数进行零飘和温漂的校准。在 loop() 函数中，将原始数据减去校准值，并乘以灵敏度得到角速度值。最后将角速度值输出到串口。