呵呵，楼主，我又来烦你啦，我初始化的数据是对的，后面就不对了，附上打印结果：
mpu initialization complete ......
mpu_set_sensor complete ......
set_mpu9150_ClockSource complete ......
mpu_set_gyro_fsr complete ......
mpu_set_accel_fsr complete ......
mpu_set_lpf complete ......
mpu_set_sample_rate complete ......
ax=-0.845703, ay=-0.031250, az=0.581543 mx=246.000000, my=-177.404129, mz=192.000000
mx=239.000000, my=-184.730560, mz=188.000000
mx=238.000000, my=-185.777191, mz=200.000000
mx=238.000000, my=-188.917084, mz=198.000000
mx=235.000000, my=-178.450760, mz=193.000000
mx=239.000000, my=-184.730560, mz=201.000000
mx=244.000000, my=-184.730560, mz=206.000000
mx=243.000000, my=-191.010345, mz=191.000000
mx=235.000000, my=-196.243515, mz=196.000000
mx=237.000000, my=-186.823822, mz=199.000000
mx=245.000000, my=-191.010345, mz=198.000000
mx=247.000000, my=-188.917084, mz=200.000000
mx=237.000000, my=-186.823822, mz=197.000000
mx=253.000000, my=-186.823822, mz=199.000000
mx=235.000000, my=-178.450760, mz=198.000000
初始化四元数：Yaw=119.785086, Pitch=-1.790785, Roll=55.485862
Yaw=180.013260, Pitch=0.099543, Roll=0.000092
Yaw=179.986740, Pitch=-0.235755, Roll=0.000065
Yaw=179.986740, Pitch=-0.091406, Roll=0.000014
Yaw=179.986740, Pitch=-0.055268, Roll=0.000006
Yaw=179.986740, Pitch=-0.042406, Roll=0.000004
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楼主
