这两天折腾MPU6050， 仔细看了看文档。

下面内容就是不同的角度的算法。

Pitch angle 俯仰角

• To find Pitch angle should be the angle between X and Z axis which will be

  atan2(accelZ,accelX)*180/PI

  Roll angle 滚动角

• For Roll angle should be the angle between Y and Z axis which will be

  atan2(accelZ,accelY)*180/PI

  yaw angle 偏航角

  And to find yaw it should be the angle between X and VectorY+Z which will be

  atan2(sqrt(accelY*accelY+accelZ*accelZ),accelX)*180/PI

  总结

  1. 校准IMU
  2. 读取原始数据
  3. 处理数据信息