mpu_dmp_get_data 函数代码如下:
- //得到dmp处理后的数据(注意,本函数需要比较多堆栈,局部变量有点多)
- //pitch:俯仰角 精度:0.1° 范围:-90.0° <---> +90.0°
- //roll:横滚角 精度:0.1° 范围:-180.0°<---> +180.0°
- //yaw:航向角 精度:0.1° 范围:-180.0°<---> +180.0°
- //返回值:0,正常
- // 其他,失败
- u8 mpu_dmp_get_data(float *pitch,float *roll,float *yaw)
- {
- float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
- unsigned long sensor_timestamp;
- short gyro[3], accel[3], sensors;
- unsigned char more;
- long quat[4];
- if(dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors,&more))return 1;
- /* Gyro and accel data are written to the FIFO by the DMP in chip frame and hardware units.
- * This behavior is convenient because it keeps the gyro and accel outputs of dmp_read_fifo and mpu_read_fifo consistent.
- **/
- /*if (sensors & INV_XYZ_GYRO )
- send_packet(PACKET_TYPE_GYRO, gyro);
- if (sensors & INV_XYZ_ACCEL)
- send_packet(PACKET_TYPE_ACCEL, accel); */
- /* Unlike gyro and accel, quaternions are written to the FIFO in the body frame, q30.
- * The orientation is set by the scalar passed to dmp_set_orientation during initialization.
- **/
- if(sensors&INV_WXYZ_QUAT)
- {
- q0 = quat[0] / q30; //q30格式转换为浮点数
- q1 = quat[1] / q30;
- q2 = quat[2] / q30;
- q3 = quat[3] / q30;
- //计算得到俯仰角/横滚角/航向角
- *pitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; // pitch
- *roll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
- *yaw = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3; //yaw
- }else return 2;
- return 0;
- }
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