mpu6050yaw修正零点漂移stm32标准库代码

以下是基于 STM32 标准库的 MPU6050 Yaw修正零点漂移代码：

#include "stm32f10x.h"

#define MPU6050_ADDRESS     0xD0
#define MPU6050_SMPLRT_DIV  0x19
#define MPU6050_CONFIG      0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG    0x1C
#define MPU6050_WHO_AM_I    0x75
#define MPU6050_PWR_MGMT_1  0x6B
#define MPU6050_PWR_MGMT_2  0x6C
#define MPU6050_ACCEL_XOUT_H    0x3B
#define MPU6050_ACCEL_XOUT_L    0x3C
#define MPU6050_ACCEL_YOUT_H    0x3D
#define MPU6050_ACCEL_YOUT_L    0x3E
#define MPU6050_ACCEL_ZOUT_H    0x3F
#define MPU6050_ACCEL_ZOUT_L    0x40
#define MPU6050_TEMP_OUT_H  0x41
#define MPU6050_TEMP_OUT_L  0x42
#define MPU6050_GYRO_XOUT_H     0x43
#define MPU6050_GYRO_XOUT_L     0x44
#define MPU6050_GYRO_YOUT_H     0x45
#define MPU6050_GYRO_YOUT_L     0x46
#define MPU6050_GYRO_ZOUT_H     0x47
#define MPU6050_GYRO_ZOUT_L     0x48

#define MPU6050_GYRO_LSB_SENSITIVITY 131.0f

void MPU6050_Init(void);
void MPU6050_Write(uint8_t addr, uint8_t data);
void MPU6050_Read(uint8_t addr, uint8_t *buf, uint16_t len);
float MPU6050_GetYaw(void);

int main(void)
{
    float yaw = 0.0f;

    MPU6050_Init();

    while (1)
    {
        yaw = MPU6050_GetYaw();

        // do something with yaw value

        // delay for some time
        for (int i = 0; i < 1000000; i++);
    }
}

void MPU6050_Init(void)
{
    // reset MPU6050
    MPU6050_Write(MPU6050_PWR_MGMT_1, 0x80);

    // delay to let the MPU6050 reset
    for (int i = 0; i < 1000000; i++);

    // set clock source to PLL with X-axis gyroscope reference
    MPU6050_Write(MPU6050_PWR_MGMT_1, 0x01);

    // set gyroscope full scale range to +/- 250 degrees/sec
    MPU6050_Write(MPU6050_GYRO_CONFIG, 0x00);

    // set accelerometer full scale range to +/- 2g
    MPU6050_Write(MPU6050_ACCEL_CONFIG, 0x00);

    // set sample rate divider to 0 (500Hz sample rate)
    MPU6050_Write(MPU6050_SMPLRT_DIV, 0x00);
}

void MPU6050_Write(uint8_t addr, uint8_t data)
{
    I2C_StartTransmission(MPU6050_ADDRESS, I2C_Direction_Transmitter);
    I2C_WriteData(addr);
    I2C_WriteData(data);
    I2C_StopTransmission();
}

void MPU6050_Read(uint8_t addr, uint8_t *buf, uint16_t len)
{
    I2C_StartTransmission(MPU6050_ADDRESS, I2C_Direction_Transmitter);
    I2C_WriteData(addr);
    I2C_StopTransmission();

    I2C_StartTransmission(MPU6050_ADDRESS, I2C_Direction_Receiver);

    for (uint16_t i = 0; i < len; i++)
    {
        buf[i] = I2C_ReadData(len - i - 1);

        if (i == len - 1)
        {
            I2C_AcknowledgeConfig(I2C_NACK);
        }
    }

    I2C_StopTransmission();
}

float MPU6050_GetYaw(void)
{
    uint8_t buf[6] = {0};
    int16_t gyro_x = 0, gyro_y = 0, gyro_z = 0;
    float yaw = 0.0f;

    MPU6050_Read(MPU6050_GYRO_XOUT_H, buf, 6);

    gyro_x = ((int16_t)buf[0] << 8) | buf[1];
    gyro_y = ((int16_t)buf[2] << 8) | buf[3];
    gyro_z = ((int16_t)buf[4] << 8) | buf[5];

    // Yaw calculation
    yaw = (float)gyro_z / MPU6050_GYRO_LSB_SENSITIVITY;

    // Yaw zero drift correction
    static float yaw_offset = 0.0f;
    static uint32_t yaw_offset_cnt = 0;

    if (yaw_offset_cnt < 1000)
    {
        yaw_offset += yaw;
        yaw_offset_cnt++;
    }
    else
    {
        yaw_offset /= 1000.0f;

        yaw -= yaw_offset;
    }

    return yaw;
}

在代码中，通过使用 MPU6050 陀螺仪，获取当前的 Yaw 值，并对零点漂移进行修正。Yaw 值的计算公式为：

$$Yaw = \frac{gyro_z}{131.0}$$

其中 131.0 是 MPU6050 的陀螺仪 LSB 灵敏度值。Yaw 零点漂移的修正是通过使用一个静态变量 yaw_offset 和一个计数器 yaw_offset_cnt，将前1000次获取到的 Yaw 值的平均值作为零点漂移的修正量。然后，每次获取到 Yaw 值时，都减去这个修正量。这样可以让 Yaw 值趋近于真实值，从而提高程序的精度。