mpu6050读数不稳定，大家看一下有什么问题

进击 · 发表于 2019-3-17 17:18:20

#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "lcd.h"
#include "usart.h"
#include "mpu6050.h"
#include "usmart.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"

int main(void)
{
float pitch,roll,yaw;
  short aacx,aacy,aacz;
short gyrox,gyroy,gyroz;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
uart_init(9600);
delay_init();
MPU_Init();

MPU_Get_Accelerometer(&aacx,&aacy,&aacz);
MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);
while(mpu_dmp_init())
{
printf("error%d\n",mpu_dmp_init());
delay_ms(200);
}
while(1)
{

if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)
{

MPU_Get_Accelerometer(&aacx,&aacy,&aacz);
delay_ms(1);
MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);

printf("aacx:%d\n",aacx);
printf("aacy:%d\n",aacy);
printf("aacz:%d\n",aacz);
printf("gx:%d\n",gyrox);
printf("gy:%d\n",gyroy);
printf("gz:%d\n",gyroz);
printf("pitch:%f\n",pitch);
printf("roll:%f\n",roll);
printf("yaw:%f\n",yaw);
delay_ms(1000);
}

}
}