mpu6050三个角度

以下是两种获取MPU6050三个角度的方法：

1. 使用Arduino和MPU6050库获取三个角度的值：

#include <Wire.h>
#include <MPU6050.h>

MPU6050 mpu;

void setup() {
  Wire.begin();
  Serial.begin(9600);
  
  mpu.initialize();
  mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
  mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
}

void loop() {
  int16_t ax, ay, az;
  int16_t gx, gy, gz;
  
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  
  float accelAngleX = atan(-ay / sqrt(pow(ax, 2) + pow(az, 2))) * 180 / PI;
  float accelAngleY = atan(ax / sqrt(pow(ay, 2) + pow(az, 2))) * 180 / PI;
  float gyroAngleX = gx / 131.0;
  float gyroAngleY = gy / 131.0;
  float gyroAngleZ = gz / 131.0;
  
  float angleX = 0.98 * (gyroAngleX + accelAngleX) + 0.02 * gyroAngleX;
  float angleY = 0.98 * (gyroAngleY + accelAngleY) + 0.02 * gyroAngleY;
  
  Serial.print("Angle X: ");
  Serial.print(angleX);
  Serial.print("  Angle Y: ");
  Serial.println(angleY);
  
  delay(100);
}

2. 使用STM32和MPU6050库通过串口观察三个角度的值：

#include <Wire.h>
#include <MPU6050.h>

MPU6050 mpu;

void setup() {
  Wire.begin();
  Serial.begin(9600);
  
  mpu.initialize();
  mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
  mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
}

void loop() {
  int16_t ax, ay, az;
  int16_t gx, gy, gz;
  
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  
  float accelAngleX = atan(-ay / sqrt(pow(ax, 2) + pow(az, 2))) * 180 / PI;
  float accelAngleY = atan(ax / sqrt(pow(ay, 2) + pow(az, 2))) * 180 / PI;
  float gyroAngleX = gx / 131.0;
  float gyroAngleY = gy / 131.0;
  float gyroAngleZ = gz / 131.0;
  
  float angleX = 0.98 * (gyroAngleX + accelAngleX) + 0.02 * gyroAngleX;
  float angleY = 0.98 * (gyroAngleY + accelAngleY) + 0.02 * gyroAngleY;
  
  Serial.print("Angle X: ");
  Serial.print(angleX);
  Serial.print("  Angle Y: ");
  Serial.println(angleY);
  
  delay(100);
}