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发表于 2012-7-20 14:08:20
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Name_006 发表于 2012-7-16 20:37
加速度啊 跟陀螺数据融合 ...
请教一下:gyro_xsensitivity,ysensitivity,zsensitivity这三个数的值是如何确定的呢。原文地址
http://www.botched.co.uk/pic-tut ... up-data-aquisition/
void Get_Gyro_Rates()
{
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_H, &GYRO_XOUT_H, 1);
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_L, &GYRO_XOUT_L, 1);
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_H, &GYRO_YOUT_H, 1);
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_L, &GYRO_YOUT_L, 1);
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_H, &GYRO_ZOUT_H, 1);
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_L, &GYRO_ZOUT_L, 1);
GYRO_XOUT = ((int16)(GYRO_XOUT_H<<8)|GYRO_XOUT_L) - GYRO_XOUT_OFFSET;
GYRO_YOUT = ((int16)(GYRO_YOUT_H<<8)|GYRO_YOUT_L) - GYRO_YOUT_OFFSET;
GYRO_ZOUT = ((int16)(GYRO_ZOUT_H<<8)|GYRO_ZOUT_L) - GYRO_ZOUT_OFFSET;
GYRO_XRATE = (float)GYRO_XOUT/gyro_xsensitivity;
GYRO_YRATE = (float)GYRO_YOUT/gyro_ysensitivity;
GYRO_ZRATE = (float)GYRO_ZOUT/gyro_zsensitivity;
}
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