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1、mpu6050姿态解算原理_mpu6050姿态解算程序关于MPU6050姿态解算原理mpu6050常用作提供飞控运行时的姿态测量和计算，在在姿态结算中有几个重要的概念，欧拉角、四元数等。欧拉角：用来表征三维空间中运动物体绕着坐标轴旋转的情况。即物体的每时每秒的姿态可以由欧拉角表出。四元数：超复数，q=（q0，q1，q2，q3），q0位实数，q1，q2，q3为虚部的实数。简单的可以理解为四维空间，就是原有的三维空间加入一个旋转角。而四元数可以表征欧拉角，并且计算方便，故采用四元数来计算。在此还要提到加速度和磁力计补偿原理，可以参照http:/blog.csdn/nemol1990/article
2、/details/21870197？utm_source=tuicoolmpu6050姿态解算程序08.MPU6050Hardwareioi2c.c08.MPU6050Hardwareioi2c.h08.MPU6050Hardwarempu6050.c08.MPU6050Hardwarempu6050.h08.MPU6050Hardwarenrf24l01.c08.MPU6050Hardwarenrf24l01.h08.MPU6050Hardwarespi.c08.MPU6050Hardwarespi.h08.MPU6050LibrariesCMSISCMSISENDUSERLICENCEAG
3、REEMENT.pdf08.MPU6050LibrariesCMSISDeviceSTSTM32F4xxIncludestm32f4xx.h08.MPU6050LibrariesCMSISDeviceSTSTM32F4xxIncludesystem_stm32f4xx.h08.MPU6050LibrariesCMSISDeviceSTSTM32F4xxSourceTemplatesarmstartup_stm32f4xx.s08.MPU6050LibrariesCMSISDeviceSTSTM32F4xxSourceTemplatesgcc_ride7startup_stm32f4xx.s08
4、.MPU6050LibrariesCMSISDeviceSTSTM32F4xxSourceTemplatesiarstartup_stm32f4xx.s08.MPU6050LibrariesCMSISDeviceSTSTM32F4xxSourceTemplatessystem_stm32f4xx.c08.MPU6050LibrariesCMSISDeviceSTSTM32F4xxSourceTemplatesTASKINGcstart_thumb2.asm08.MPU6050LibrariesCMSISDeviceSTSTM32F4xxSourceTemplatesTrueSTUDIOstar
5、tup_stm32f4xx.s08.MPU6050LibrariesCMSISDocumentationCMSIS-SVD_Schema_1_0.xsd08.MPU6050LibrariesCMSISDocumentationCMSIS_Logo_Final.jpg08.MPU6050LibrariesCMSISIncludearm_common_tables.h08.MPU6050LibrariesCMSISIncludearm_math.h08.MPU6050LibrariesCMSISIncludecore_cm0.h08.MPU6050LibrariesCMSISIncludecore
6、_cm3.h08.MPU6050LibrariesCMSISIncludecore_cm4.h08.MPU6050LibrariesCMSISIncludecore_cm4_simd.h08.MPU6050LibrariesCMSISIncludecore_cmFunc.h08.MPU6050LibrariesCMSISIncludecore_cmInstr.h08.MPU6050LibrariesCMSISREADME.txt08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincmisc.h08.MPU6050LibrariesSTM32F4xx_S
7、tdPeriph_Driverincstm32f4xx_adc.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_can.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_crc.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_cryp.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_dac.h08.MPU6050Libr
8、ariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_dbgmcu.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_dcmi.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_dma.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_exti.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx
9、_flash.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_fsmc.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_gpio.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_hash.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_i2c.h08.MPU6050LibrariesSTM32F4xx_StdPerip
10、h_Driverincstm32f4xx_iwdg.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_pwr.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_rcc.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_rng.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_rtc.h08.MPU6050LibrariesST
11、M32F4xx_StdPeriph_Driverincstm32f4xx_sdio.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_spi.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_syscfg.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_tim.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_usart.h
12、08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driverincstm32f4xx_wwdg.h08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcmisc.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_adc.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_can.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4x
13、x_crc.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_cryp.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_cryp_aes.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_cryp_des.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_cryp_tdes.c08.MPU6050LibrariesSTM32
14、F4xx_StdPeriph_Driversrcstm32f4xx_dac.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_dbgmcu.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_dcmi.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_dma.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_exti.c08.M
15、PU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_flash.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_fsmc.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_gpio.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_hash.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversr
16、cstm32f4xx_hash_md5.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_hash_sha1.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_i2c.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_iwdg.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_pwr.c08.MPU6050LibrariesS
17、TM32F4xx_StdPeriph_Driversrcstm32f4xx_rcc.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_rng.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_rtc.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_sdio.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_spi.c08.M
18、PU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_syscfg.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_tim.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_usart.c08.MPU6050LibrariesSTM32F4xx_StdPeriph_Driversrcstm32f4xx_wwdg.c08.MPU6050OutputObjSTM32F4-TEST.hex08.MPU6050P
19、rojectJLinkSettings.ini08.MPU6050ProjectSTM32F4-TEST.uvgui.XiaoWei08.MPU6050ProjectSTM32F4-TEST.uvopt08.MPU6050ProjectSTM32F4-TEST.uvproj08.MPU6050Systemdelay.c08.MPU6050Systemdelay.h08.MPU6050Systemled.c08.MPU6050Systemled.h08.MPU6050Systemsys.c08.MPU6050Systemsys.h08.MPU6050Systemtimer2.c08.MPU6050Systemtimer2.h08.MPU6050Systemuart.c08.MPU6050Systemuart.h