就阿波罗开发板那个，设置满量程范围，是怎么设置的，这里来看不太懂? 还有那个欧拉角是怎么看出来哪个是pitch，哪个是roll

凌小 · 发表于 2018-5-24 17:57:40

  mpu_get_sample_rate(&gyro_rate);
      mpu_get_gyro_fsr(&gyro_fsr);
      mpu_get_accel_fsr(&accel_fsr);
      mpu_get_compass_fsr(&compass_fsr);
      inv_set_gyro_sample_rate(1000000L/gyro_rate);
      inv_set_accel_sample_rate(1000000L/gyro_rate);

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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@brief    Body-to-world frame euler angles.
*  The euler angles are output with the following convention:
*  Pitch: -180 to 180
*  Roll: -90 to 90
*  Yaw: -180 to 180
*  @param[out] data       Euler angles in degrees, q16 fixed point.
*  @param[out] accuracy Accuracy of the measurement from 0 (least accurate)
*                         to 3 (most accurate).
*  @param[out] timestamp The time in milliseconds when this sensor was read.
*  @return    1 if data was updated.
*/
int inv_get_sensor_type_euler(long *data, int8_t *accuracy, inv_time_t *timestamp)
{
long t1, t2, t3;
long q00, q01, q02, q03, q11, q12, q13, q22, q23, q33;
float values[3];

q00 = inv_q29_mult(eMPL_out.quat[0], eMPL_out.quat[0]);
q01 = inv_q29_mult(eMPL_out.quat[0], eMPL_out.quat[1]);
q02 = inv_q29_mult(eMPL_out.quat[0], eMPL_out.quat[2]);
q03 = inv_q29_mult(eMPL_out.quat[0], eMPL_out.quat[3]);
q11 = inv_q29_mult(eMPL_out.quat[1], eMPL_out.quat[1]);
q12 = inv_q29_mult(eMPL_out.quat[1], eMPL_out.quat[2]);
q13 = inv_q29_mult(eMPL_out.quat[1], eMPL_out.quat[3]);
q22 = inv_q29_mult(eMPL_out.quat[2], eMPL_out.quat[2]);
q23 = inv_q29_mult(eMPL_out.quat[2], eMPL_out.quat[3]);
q33 = inv_q29_mult(eMPL_out.quat[3], eMPL_out.quat[3]);

/* X component of the Ybody axis in World frame */
t1 = q12 - q03;

/* Y component of the Ybody axis in World frame */
t2 = q22 + q00 - (1L << 30);
values[2] = -atan2f((float) t1, (float) t2) * 180.f / (float) M_PI;

/* Z component of the Ybody axis in World frame */
t3 = q23 + q01;
values[0] =
      atan2f((float) t3,
            sqrtf((float) t1 * t1 +
                  (float) t2 * t2)) * 180.f / (float) M_PI;
/* Z component of the Zbody axis in World frame */
t2 = q33 + q00 - (1L << 30);
if (t2 < 0) {
      if (values[0] >= 0)
         values[0] = 180.f - values[0];
      else
         values[0] = -180.f - values[0];
}

/* X component of the Xbody axis in World frame */
t1 = q11 + q00 - (1L << 30);
/* Y component of the Xbody axis in World frame */
t2 = q12 + q03;
/* Z component of the Xbody axis in World frame */
t3 = q13 - q02;

values[1] =
      (atan2f((float)(q33 + q00 - (1L << 30)), (float)(q13 - q02)) *
      180.f / (float) M_PI - 90);
if (values[1] >= 90)
      values[1] = 180 - values[1];

if (values[1] < -90)
      values[1] = -180 - values[1];
data[0] = (long)(values[0] * 65536.f);
data[1] = (long)(values[1] * 65536.f);
data[2] = (long)(values[2] * 65536.f);

accuracy[0] = eMPL_out.quat_accuracy;
timestamp[0] = eMPL_out.nine_axis_timestamp;
return eMPL_out.nine_axis_status;
}