MPU6050小板安装方式为竖直安装不采用平方安装，怎么进行姿态结算

其木王王子

有mpu6050芯片的板子安装方式由于条件限制不能再是平方安装，要改为竖直安装。那么相应的初始化方式和姿态解算要怎么改变？我把MPU6050的初始化orientaion 映射也改了，还是不行。来这里询问下，有没有这种条件的MPU6050处理方式。

其木王王子

1. 
   
2. /* The sensors can be mounted onto the board in any orientation. The mounting
   
3. * matrix seen below tells the MPL how to rotate the raw data from the
   
4. * driver(s).
   
5. * TODO: The following matrices refer to the configuration on internal test
   
6. * boards at Invensense. If needed, please modify the matrices to match the
   
7. * chip-to-body matrix for your particular set up.
   
8. */
   
9. static struct platform_data_s gyro_pdata = {
   
10.     .orientation = { 1, 0, 0,
    
11.                      0, 1, 0,
    
12.                      0, 0, 1}
    
13. };

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peng1554

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其木王王子

peng1554 发表于 2020-3-13 12:31
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顶！顶！

其木王王子

/* The sensors can be mounted onto the board in any orientation. The mounting
* matrix seen below tells the MPL how to rotate the raw data from the
* driver(s).
* TODO: The following matrices refer to the configuration on internal test
* boards at Invensense. If needed, please modify the matrices to match the
* chip-to-body matrix for your particular set up.
*/
static struct platform_data_s gyro_pdata = {
    .orientation = { 1, 0, 0,
                     0, 1, 0,
                     0, 0, 1}
};