STM32F1读取MUP9250姿态解算获得pitch，roll，yaw

ID:225844 · 发表于 2018-4-9 12:49

u8 mpu_mpl_get_data(float *pitch,float *roll,float *yaw)
{
unsigned long sensor_timestamp,timestamp;
short gyro[3], accel_short[3],compass_short[3],sensors;
unsigned char more;
long compass[3],accel[3],quat[4],temperature;
long data[9];
int8_t accuracy;

if(dmp_read_fifo(gyro, accel_short, quat, &sensor_timestamp, &sensors,&more))return 1;

if(sensors&INV_XYZ_GYRO)
{
      inv_build_gyro(gyro,sensor_timestamp);       //°ÑDÂêy¾Y·￠Ëí¸øMPL
      mpu_get_temperature(&temperature,&sensor_timestamp);
      inv_build_temp(temperature,sensor_timestamp); //°ÑÎÂ¶èÖμ·￠¸øMPL￡¬Ö»óDíóÂYòÇDèòaÎÂ¶èÖμ
}

if(sensors&INV_XYZ_ACCEL)
{
      accel[0] = (long)accel_short[0];
      accel[1] = (long)accel_short[1];
      accel[2] = (long)accel_short[2];
   inv_build_accel(accel,0,sensor_timestamp);    //°Ñ¼óËù¶èÖμ·￠¸øMPL
}

if (!mpu_get_compass_reg(compass_short, &sensor_timestamp))
{
      compass[0]=(long)compass_short[0];
      compass[1]=(long)compass_short[1];
      compass[2]=(long)compass_short[2];

      inv_build_compass(compass,0,sensor_timestamp); //°Ñ′Åá|¼ÆÖμ·￠¸øMPL
}
inv_execute_on_data();
inv_get_sensor_type_euler(data,&accuracy,&timestamp);

*roll  = (data[0]/q16);
*pitch = -(data[1]/q16);
*yaw = -data[2] / q16;
return 0;
}

ID:336453 · 发表于 2018-5-23 13:51

请问这个q16是什么，谢谢

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