MPU6050的DMP,什么叫加速度传感器的偏置

richthoffen

/** Sets the accel bias.
* @param[in] bias Accel bias, length 3. In HW units scaled by 2^16 in body frame
* @param[in] accuracy Accuracy rating from 0 to 3, with 3 being most accurate.
*/
void inv_set_accel_bias(const long *bias, int accuracy)
{
    if (bias) {
        if (memcmp(inv_data_builder.save.accel_bias, bias, sizeof(inv_data_builder.save.accel_bias))) {
            memcpy(inv_data_builder.save.accel_bias, bias, sizeof(inv_data_builder.save.accel_bias));
            inv_apply_calibration(&sensors.accel, inv_data_builder.save.accel_bias);
        }
    }
    sensors.accel.accuracy = accuracy;
    inv_data_builder.save.accel_accuracy = accuracy;
    inv_set_message(INV_MSG_NEW_AB_EVENT, INV_MSG_NEW_AB_EVENT, 0);
}

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