Yaw指向

旦丁中号 · 发表于 2016-3-16 16:57:16

如题，求问yaw角指向，比如指向哪个方向是0°？
还有我发现我的mpu9150放同一位置方位不变，但是在不同时间得到的yaw角度不完全一样~~

旦丁中号 · 发表于 2016-3-16 17:01:50

忘了说还有，我调用了应美盛的motion_driver_6.12的dmp库，但是得到的yaw角还是有漂移，平均四分钟漂一度，pitch和roll都很稳定，请问是不是在配置dmp库中有什么问题呢？
配置如下：[mw_shl_code=c,true]bool MPU9150_Conf(void)
{
int result=0;
result=mpu_init();
if(!result)
{
#if defined MPU6050 || defined MPU6500
result = mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL); //mpu_set_sensor
result |= mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL); //mpu_configure_fifo
#elif defined MPU9150 || defined MPU9250
result = mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS);
result |= mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS);
#endif
result |= mpu_set_sample_rate(DEFAULT_MPU_HZ);          //mpu_set_sample_rate
result |= dmp_load_motion_driver_firmware();          //dmp_load_motion_driver_firmvare
result |= dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));
//dmp_set_orientation
result |= dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
      DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
      DMP_FEATURE_GYRO_CAL);              //dmp_enable_feature
result |= dmp_set_fifo_rate(DEFAULT_MPU_HZ);    //dmp_set_fifo_rate
run_self_test(); //run_self_test
result |= mpu_set_dmp_state(1);
}
return result;
}[/mw_shl_code]