{"id":100863,"date":"2026-09-05T13:57:13","date_gmt":"2026-09-05T05:57:13","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/100863.html"},"modified":"2026-09-05T13:57:13","modified_gmt":"2026-09-05T05:57:13","slug":"stm32_mpu6050_%e6%bb%a4%e6%b3%a2%e6%95%99%e7%a8%8b","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/100863.html","title":{"rendered":"stm32_mpu6050_\u6ee4\u6ce2\u6559\u7a0b"},"content":{"rendered":"

🚁 STM32 + MPU6050 \u4ece\u96f6\u5230\u56db\u8f74：\u4e00\u5957\u8ba9\u4f60\u771f\u7684"\u770b\u61c2"\u98de\u63a7\u7684\u6559\u7a0b<\/h2>\n

\u4e00\u53e5\u8bdd\u8bf4\u6e05\u8fd9\u7bc7\u6559\u7a0b\u5728\u5e72\u561b：\u6211\u4eec\u7528\u4e00\u5757 STM32\u3001\u4e00\u4e2a MPU6050（\u5c0f\u9640\u87ba+\u5c0f\u52a0\u901f\u5ea6\u8ba1），\u4e00\u6b65\u6b65\u505a\u51fa\u4e00\u4e2a"\u77e5\u9053\u81ea\u5df1\u5728\u54ea\u3001\u600e\u4e48\u4fdd\u6301\u5e73\u8861\u3001\u600e\u4e48\u98de\u7a33"\u7684\u56db\u8f74\u98de\u63a7\u6838\u5fc3\u3002\u4ece\u8bfb\u53d6\u4f20\u611f\u5668\u539f\u59cb\u6570\u636e，\u5230\u7b97\u51fa\u59ff\u6001\u89d2，\u5230\u7528 PID \u53bb\u63a7\u5236\u7535\u673a，\u518d\u5230\u7528\u5149\u6d41\u4f20\u611f\u5668\u5b9e\u73b0\u5ba4\u5185\u5b9a\u70b9\u2014\u2014\u6bcf\u4e00\u6b65\u90fd\u8bb2\u6e05\u695a"\u4e3a\u4ec0\u4e48\u8fd9\u4e48\u505a"，\u800c\u4e0d\u662f\u53ea\u4e22\u7ed9\u4f60\u4e00\u5806\u4ee3\u7801\u3002<\/p>\n

\n

🧭 \u76ee\u5f55<\/h3>\n
  • \u5148\u8ba4\u8bc6\u4f20\u611f\u5668：\u4e00\u4e2a"\u778e\u5b50"\u548c\u4e00\u4e2a"\u9189\u6c49"<\/li>\n
  • \u8ba9 STM32 \u548c\u5b83"\u804a\u4e0a\u5929"：I2C \u8bfb\u6570\u636e<\/li>\n
  • \u628a\u4e71\u7801\u53d8\u6210\u4eba\u8bdd：\u5355\u4f4d\u6362\u7b97\u4e0e\u6821\u51c6<\/li>\n
  • \u59ff\u6001\u5230\u5e95\u600e\u4e48\u63cf\u8ff0：\u6b27\u62c9\u89d2\u3001\u77e9\u9635\u3001\u56db\u5143\u6570<\/li>\n
  • \u59ff\u6001\u89e3\u7b97：\u600e\u4e48\u628a\u4e24\u4e2a\u4f20\u611f\u5668"\u5408\u6210"\u4e00\u4e2a\u51c6\u7684<\/li>\n
  • \u8fdb\u9636\u6ee4\u6ce2：\u5361\u5c14\u66fc \u548c DMP（\u5077\u61d2\u795e\u5668）<\/li>\n
  • PID：\u8ba9\u59ff\u6001"\u542c\u8bdd"\u7684\u63a7\u5236\u9b54\u6cd5<\/li>\n
  • \u7535\u673a\u8f93\u51fa：PID \u7b97\u51fa\u7684\u6570\u600e\u4e48\u53d8\u6210"\u8f6c\u591a\u5feb"<\/li>\n
  • \u5149\u6d41\u4f20\u611f\u5668：\u5ba4\u5185\u6ca1 GPS \u65f6\u9760"\u770b\u56fe"\u5b9a\u4f4d<\/li>\n
  • \u98de\u63a7\u5168\u8c8c：\u628a\u524d\u9762\u4e32\u6210\u4e00\u6761\u5b8c\u6574\u95ed\u73af<\/li>\n
  • \u65b0\u624b\u5b66\u4e60\u8def\u7ebf & \u53c2\u8003\u8d44\u6e90<\/li>\n
    \n

    1. \u5148\u8ba4\u8bc6\u4f20\u611f\u5668：\u4e00\u4e2a"\u778e\u5b50"\u548c\u4e00\u4e2a"\u9189\u6c49"<\/h3>\n

    \u8fd9\u5c31\u662f\u6211\u4eec\u8fd9\u7bc7\u6559\u7a0b\u7684"\u4e3b\u89d2"\u2014\u2014\u4e00\u5757\u5df4\u638c\u5927\u7684 MPU6050 \u6a21\u5757，\u4ee5\u53ca\u627f\u8f7d\u7b97\u6cd5\u7684 STM32 \u5355\u7247\u673a：<\/p>\n

    \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

    \u25b2 \u56fe 1 \u00b7 MPU6050 \u516d\u8f74（3 \u8f74\u52a0\u901f\u5ea6 + 3 \u8f74\u9640\u87ba）\u4f20\u611f\u5668\u6a21\u5757，\u901a\u8fc7 I2C \u4e0e\u5355\u7247\u673a\u901a\u4fe1 \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

    \u25b2 \u56fe 2 \u00b7 STM32 \u5f00\u53d1\u677f，\u4f5c\u4e3a\u98de\u63a7\u7684"\u5927\u8111"，\u8d1f\u8d23\u8bfb\u6570\u636e\u3001\u7b97\u59ff\u6001\u3001\u8f93\u51fa PWM<\/p>\n

    \u60f3\u8c61 MPU6050 \u5176\u5b9e\u88c5\u4e86\u4e24\u4e2a\u6027\u683c\u5b8c\u5168\u76f8\u53cd\u7684\u5c0f\u5bb6\u4f19：<\/p>\n

    🥴 \u9640\u87ba\u4eea（Gyroscope）\u2014\u2014\u4e00\u4e2a"\u9189\u6c49"<\/h4>\n
      \n
    • \u5b83\u8d1f\u8d23\u6d4b\u89d2\u901f\u5ea6，\u4e5f\u5c31\u662f"\u6211\u8f6c\u5f97\u6709\u591a\u5feb"（\u5355\u4f4d \u00b0\/s）\u3002<\/li>\n
    • \u4f18\u70b9：\u53cd\u5e94\u6781\u5feb，\u4f60\u521a\u8f6c\u4e00\u70b9\u70b9\u5b83\u7acb\u523b\u5c31\u77e5\u9053\u3002<\/li>\n
    • \u7f3a\u70b9：\u5b83\u53ea\u80fd\u6d4b"\u8f6c\u52a8\u7684\u901f\u5ea6"，\u8981\u5f97\u5230\u89d2\u5ea6\u5fc5\u987b\u79ef\u5206（\u628a\u901f\u5ea6\u7d2f\u52a0\u8d77\u6765）\u3002\u53ef\u5b83\u6709\u4e2a\u574f\u6bdb\u75c5\u2014\u2014\u4f1a\u6084\u6084"\u8dd1\u504f"（\u96f6\u504f\u6f02\u79fb）\u3002\u5c31\u50cf\u9189\u6c49\u8d70\u8def，\u8d70\u51e0\u6b65\u65b9\u5411\u5c31\u6b6a\u4e86，\u65f6\u95f4\u8d8a\u4e45\u9519\u5f97\u8d8a\u79bb\u8c31\u3002<\/li>\n
    • \u7ed3\u8bba：\u77ed\u65f6\u95f4\u8d85\u51c6，\u957f\u65f6\u95f4\u5fc5\u6f02\u3002<\/li>\n<\/ul>\n

      🧘 \u52a0\u901f\u5ea6\u8ba1（Accelerometer）\u2014\u2014\u4e00\u4e2a"\u5750\u5f97\u7a33\u7684\u8001\u5b9e\u4eba"<\/h4>\n
        \n
      • \u5b83\u8d1f\u8d23\u6d4b\u52a0\u901f\u5ea6（\u5355\u4f4d g），\u9759\u6b62\u65f6\u80fd"\u611f\u89c9"\u51fa\u91cd\u529b\u671d\u54ea\u8fb9\u3002<\/li>\n
      • \u4f18\u70b9：\u957f\u671f\u8d85\u7ea7\u7a33\u5b9a，\u4f60\u653e\u5e73\u5b83\u5c31\u77e5\u9053"\u5730\u9762\u5728\u8fd9\u8fb9"，\u6c38\u8fdc\u4e0d\u6f02\u3002<\/li>\n
      • \u7f3a\u70b9：\u5b83\u7279\u522b"\u6015\u6296"\u3002\u98de\u673a\u4e00\u9707\u3001\u4e00\u52a0\u901f，\u5b83\u6d4b\u51fa\u7684\u65b9\u5411\u5c31\u5168\u662f\u4e71\u98a4\u7684\u566a\u58f0，\u77ed\u65f6\u95f4\u91cc\u6839\u672c\u6ca1\u6cd5\u4fe1\u3002<\/li>\n
      • \u7ed3\u8bba：\u957f\u671f\u7a33，\u77ed\u65f6\u95f4\u6296\u3002<\/li>\n<\/ul>\n

        💡 \u6838\u5fc3\u601d\u60f3：\u53d6\u957f\u8865\u77ed<\/h4>\n

        \u8fd9\u4fe9\u4e00\u4e2a"\u5feb\u4f46\u6f02"，\u4e00\u4e2a"\u7a33\u4f46\u6296"\u2014\u2014\u6b63\u597d\u4e92\u8865\u3002\u59ff\u6001\u89e3\u7b97（\u59ff\u6001\u878d\u5408）\u7684\u5168\u90e8\u79d8\u5bc6，\u5c31\u662f\u60f3\u529e\u6cd5\u8ba9\u5b83\u4fe9"\u4e92\u76f8\u5f53\u9760\u5c71"，\u5408\u6210\u4e00\u4e2a\u65e2\u5feb\u53c8\u7a33\u7684\u89d2\u5ea6\u3002<\/p>\n

        🎯 \u8fd9\u5c31\u662f"\u4e92\u8865\u6ee4\u6ce2"\u540d\u5b57\u7684\u6765\u6e90：\u628a\u4e24\u4e2a\u4f20\u611f\u5668\u7684\u957f\u5904\u4e92\u8865\u8d77\u6765\u3002<\/p>\n

        \u63a5\u7ebf\u56fe（\u5c31\u8fd9\u4e48\u7b80\u5355，\u4e00\u5171 4 \u6839\u7ebf）：<\/p>\n

        STM32 MPU6050 \u6a21\u5757
        \n \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510 \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510
        \n \u2502 3.3V \u2500\u2500\u2500\u253c\u2500\u2500 \u7ea2\u8272 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25b6\u2502 VCC \u2502
        \n \u2502 GND \u2500\u2500\u2500\u253c\u2500\u2500 \u9ed1\u8272 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25b6\u2502 GND \u2502
        \n \u2502 PB6\u00b7SCL \u2500\u2500\u253c\u2500\u2500 \u9ec4\u8272 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25b6\u2502 SCL \u2502
        \n \u2502 PB7\u00b7SDA \u2500\u2500\u253c\u2500\u2500 \u7eff\u8272 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25b6\u2502 SDA \u2502
        \n \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518
        \n （SCL \/ SDA \u90fd\u9700\u8981\u63a5 4.7k\u03a9 \u4e0a\u62c9\u7535\u963b\u5230 3.3V）<\/p>\n

        \u26a0\ufe0f \u65b0\u624b\u5e38\u8e29\u7684\u4e09\u4e2a\u5751<\/p>\n

      • MPU6050 \u7684 AD0 \u5f15\u811a\u63a5\u5730 \u2192 \u5730\u5740\u662f 0x68；\u63a5 3.3V \u2192 \u5730\u5740\u53d8 0x69\u3002\u5730\u5740\u5199\u9519 = \u901a\u4fe1\u5931\u8d25，\u6700\u6700\u5e38\u89c1\u7684\u5751！<\/li>\n
      • \u522b\u628a\u6a21\u5757\u4e0a\u7684 5V \u76f4\u63a5\u603c\u5230 STM32 \u5f15\u811a\u4e0a（I\/O \u662f 3.3V \u7535\u5e73）\u3002<\/li>\n
      • I2C \u5fc5\u987b\u63a5\u4e0a\u62c9\u7535\u963b，\u5426\u5219\u4fe1\u53f7\u4e0d\u7a33\u5b9a\u3001\u65f6\u597d\u65f6\u574f\u3002<\/li>\n
        \n

        2. \u8ba9 STM32 \u548c\u5b83"\u804a\u4e0a\u5929"：I2C \u8bfb\u6570\u636e<\/h3>\n

        📬 \u5b83\u662f\u600e\u4e48\u6c9f\u901a\u7684？<\/h4>\n

        MPU6050 \u5185\u90e8\u6709\u4e00\u6392"\u90ae\u7bb1"（\u5bc4\u5b58\u5668），STM32 \u53ea\u8981\u7528 I2C \u534f\u8bae"\u5199\u4e2a\u7eb8\u6761\u8fdb\u53bb\u3001\u6216\u53d6\u4e00\u5f20\u7eb8\u6761\u51fa\u6765"\u5c31\u80fd\u6c9f\u901a\u3002\u82af\u7247\u5e95\u5c42\u7684\u7535\u8def\u8fde\u63a5\u5927\u6982\u662f\u8fd9\u6837：<\/p>\n

        \"\"<\/p>\n

        \u25b2 \u56fe 3 \u00b7 MPU6050 \u5185\u90e8\u7535\u8def\u539f\u7406\u793a\u610f（MCU \u901a\u8fc7 I2C \u6570\u636e\u7ebf SDA\/SCL \u4e0e\u7247\u5185\u5bc4\u5b58\u5668\u8bfb\u5199\u901a\u4fe1）<\/p>\n

        \u6570\u636e\u90fd\u6392\u597d\u961f\u653e\u5728\u4ece\u5730\u5740 0x3B \u5f00\u59cb\u7684\u4e00\u8fde\u4e32\u90ae\u7bb1\u91cc，\u987a\u5e8f\u662f：<\/p>\n

        \u52a0\u901f\u5ea6X \u2192 \u52a0\u901f\u5ea6Y \u2192 \u52a0\u901f\u5ea6Z \u2192 \u6e29\u5ea6 \u2192 \u9640\u87baX \u2192 \u9640\u87baY \u2192 \u9640\u87baZ
        \n\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2510\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2510\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2510\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2510
        \n\u2502 2\u5b57\u8282 \u2502\u2502 2\u5b57\u8282 \u2502\u2502 2\u5b57\u8282 \u2502\u2502 2\u5b57\u8282\u2502\u2502 2\u5b57\u8282\u2502\u2502 2\u5b57\u8282\u2502\u2502 2\u5b57\u8282\u2502
        \n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2518\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2518\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2518\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2518
        \n 0x3B 0x3D 0x3F 0x41 0x43 0x45 0x47<\/p>\n

        \u6240\u4ee5\u6211\u4eec\u4e00\u6b21\u7a81\u53d1\u8bfb\u53d6 14 \u4e2a\u5b57\u8282，\u5c31\u628a 6 \u4e2a\u8f74 + \u6e29\u5ea6\u5168\u62ff\u56de\u6765\u4e86，\u6548\u7387\u6700\u9ad8\u3002<\/p>\n

        🔌 \u521d\u59cb\u5316\u4ee3\u7801（STM32 HAL \u5e93）<\/h4>\n

        void<\/span> MPU6050_Init<\/span>(<\/span>void<\/span>)<\/span>{<\/span>
        \n HAL_Delay<\/span>(<\/span>100<\/span>)<\/span>;<\/span> \/\/ \u7b49\u5f85\u4f20\u611f\u5668\u5185\u90e8\u4f9b\u7535\u7a33\u5b9a<\/span>
        \n uint8_t<\/span> reg =<\/span> 0x01<\/span>;<\/span> \/\/ \u5524\u9192\u5e76\u9009\u62e9\u65f6\u949f\u6e90 PLL with X Gyro<\/span>
        \n HAL_I2C_Mem_Write<\/span>(<\/span>&<\/span>hi2c1,<\/span> MPU6050_ADDRESS<<<\/span>1<\/span>,<\/span> 0x6B<\/span>,<\/span> I2C_MEMADD_SIZE_8BIT,<\/span> &<\/span>reg,<\/span> 1<\/span>,<\/span> 100<\/span>)<\/span>;<\/span><\/p>\n

        reg =<\/span> 0x10<\/span>;<\/span> \/\/ \u8bbe\u9640\u87ba\u4eea\u91cf\u7a0b \u00b11000\u00b0\/s<\/span>
        \n HAL_I2C_Mem_Write<\/span>(<\/span>&<\/span>hi2c1,<\/span> MPU6050_ADDRESS<<<\/span>1<\/span>,<\/span> 0x1B<\/span>,<\/span> I2C_MEMADD_SIZE_8BIT,<\/span> &<\/span>reg,<\/span> 1<\/span>,<\/span> 100<\/span>)<\/span>;<\/span><\/p>\n

        reg =<\/span> 0x00<\/span>;<\/span> \/\/ \u8bbe\u52a0\u901f\u5ea6\u91cf\u7a0b \u00b12g (16384 LSB\/g)<\/span>
        \n HAL_I2C_Mem_Write<\/span>(<\/span>&<\/span>hi2c1,<\/span> MPU6050_ADDRESS<<<\/span>1<\/span>,<\/span> 0x1C<\/span>,<\/span> I2C_MEMADD_SIZE_8BIT,<\/span> &<\/span>reg,<\/span> 1<\/span>,<\/span> 100<\/span>)<\/span>;<\/span>
        \n}<\/span><\/p>\n

        📖 \u8bfb\u53d6 14 \u5b57\u8282\u539f\u59cb\u6570\u636e<\/h4>\n

        uint8_t<\/span> buf[<\/span>14<\/span>]<\/span>;<\/span>
        \nint16_t<\/span> ax,<\/span> ay,<\/span> az,<\/span> gx,<\/span> gy,<\/span> gz,<\/span> tmp;<\/span><\/p>\n

        void<\/span> MPU6050_ReadRaw<\/span>(<\/span>void<\/span>)<\/span>{<\/span>
        \n \/\/ \u4ece 0x3B \u5f00\u59cb，\u4e00\u53e3\u6c14\u8bfb 14 \u4e2a\u5b57\u8282<\/span>
        \n HAL_I2C_Mem_Read<\/span>(<\/span>&<\/span>hi2c1,<\/span> 0x68<\/span><<<\/span>1<\/span>,<\/span> 0x3B<\/span>,<\/span> I2C_MEMADD_SIZE_8BIT,<\/span> buf,<\/span> 14<\/span>,<\/span> 100<\/span>)<\/span>;<\/span>
        \n \/\/ \u6bcf\u4e2a\u6570\u636e\u662f16\u4f4d\u6709\u7b26\u53f7\u6570，\u9ad8\u5b57\u8282\u5728\u524d，\u4f4e\u5b57\u8282\u5728\u540e，\u62fc\u8d77\u6765：<\/span>
        \n ax =<\/span> (<\/span>buf[<\/span>0<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>1<\/span>]<\/span>;<\/span>
        \n ay =<\/span> (<\/span>buf[<\/span>2<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>3<\/span>]<\/span>;<\/span>
        \n az =<\/span> (<\/span>buf[<\/span>4<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>5<\/span>]<\/span>;<\/span>
        \n tmp=<\/span> (<\/span>buf[<\/span>6<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>7<\/span>]<\/span>;<\/span> \/\/ \u6e29\u5ea6<\/span>
        \n gx =<\/span> (<\/span>buf[<\/span>8<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>9<\/span>]<\/span>;<\/span>
        \n gy =<\/span> (<\/span>buf[<\/span>10<\/span>]<\/span><<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>11<\/span>]<\/span>;<\/span>
        \n gz =<\/span> (<\/span>buf[<\/span>12<\/span>]<\/span><<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>13<\/span>]<\/span>;<\/span>
        \n}<\/span><\/p>\n

        \u2705 \u5b8c\u6210\u540e\u6253\u5f00\u4e32\u53e3\u6253\u5370 ax, ay, az, gx, gy, gz，\u8f7b\u8f7b\u6643\u52a8\u6a21\u5757，\u770b\u6570\u503c\u4f1a\u4e0d\u4f1a\u8ddf\u7740\u53d8\u3002\u80fd\u53d8 = \u4f60\u6210\u529f\u4e86！\u8fd9\u662f\u98de\u63a7\u4e4b\u8def\u7684\u7b2c\u4e00\u4e2a\u91cc\u7a0b\u7891 🎉\u3002<\/p>\n

        \n

        3. \u628a\u4e71\u7801\u53d8\u6210\u4eba\u8bdd：\u5355\u4f4d\u6362\u7b97\u4e0e\u6821\u51c6<\/h3>\n

        \u4e0a\u4e00\u6b65\u8bfb\u5230\u7684\u53ea\u662f\u539f\u59cb ADC \u6570\u5b57（\u6bd4\u5982 16384\u3001-5000），\u50cf\u4e00\u5806\u6ca1\u5355\u4f4d\u7684\u4e71\u7801\u3002\u8981\u53d8\u6210\u6709\u7269\u7406\u610f\u4e49\u7684\u503c，\u5f97\u9664\u4ee5"\u7075\u654f\u5ea6"：<\/p>\n

        \u7269\u7406\u503c = \u539f\u59cb\u503c \u00f7 \u7075\u654f\u5ea6
        \nMPU6050 \u82af\u7247\u5185\u90e8\u662f\u4e00\u4e2a 16 \u4f4d\u7684 ADC（\u6a21\u6570\u8f6c\u6362\u5668）\u3002\u5b83\u6d4b\u5230\u7684\u7269\u7406\u4fe1\u53f7（\u91cd\u529b\u3001\u65cb\u8f6c）\u6700\u7ec8\u4f1a\u88ab\u8f6c\u6362\u6210\u4e00\u4e2a 16 \u4f4d\u6709\u7b26\u53f7\u6574\u6570（int16_t）\u3002<\/p>\n

        16 \u4f4d\u6709\u7b26\u53f7\u6570\u7684\u6700\u5927\u8303\u56f4\u662f：
        \n\u221232768\u223c+32767
        \n\u221232768\u223c+32767\u3002
        \n\u6ee1\u91cf\u7a0b\u5bf9\u5e94\u7684\u6700\u5927\u6570\u5b57\u5c31\u662f 32768\u3002<\/p>\n

        \u4f60\u9009\u62e9\u4e86 \u00b12g\u00b12*g* \u91cf\u7a0b（gg \u662f\u5730\u7403\u91cd\u529b\u52a0\u901f\u5ea6，\u7ea6\u7b49\u4e8e 9.8\u2009m\/s2）\u3002<\/p>\n

        \u6362\u7b97\u63a8\u5bfc：<\/h5>\n
          \n
        • \u82af\u7247\u611f\u53d7\u5230\u7684\u52a0\u901f\u5ea6\u8303\u56f4\u662f：\u22122g\u223c+2g<\/li>\n
        • \u82af\u7247 ADC \u8f93\u51fa\u7684\u6570\u5b57\u8303\u56f4\u662f：\u221232768\u223c+32767<\/li>\n
        • \u4e24\u8005\u4e00\u4e00\u5bf9\u5e94：\n
            \n
          • +2g+2g \u5bf9\u5e94\u6570\u5b57 +32768<\/li>\n
          • +1g+1g \u5bf9\u5e94\u6570\u5b57 +16384（\u5373 32768\u00f72）<\/li>\n
          • 0g0g \u5bf9\u5e94\u6570\u5b57 0<\/li>\n
          • \u22121g\u22121g \u5bf9\u5e94\u6570\u5b57 \u221216384<\/li>\n
          • \u22122g\u22122g \u5bf9\u5e94\u6570\u5b57 \u221232768<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\u91cf\u7a0b\u52a0\u901f\u5ea6\u7075\u654f\u5ea6 (LSB\/g)\u9640\u87ba\u7075\u654f\u5ea6 (LSB\/\u00b0\/s)<\/tr>\n\n\n\n\n\n
            \u00b12g \/ \u00b1250\u00b0\/s<\/td>\n16384<\/td>\n131<\/td>\n<\/tr>\n
            \u00b14g \/ \u00b1500\u00b0\/s<\/td>\n8192<\/td>\n65.5<\/td>\n<\/tr>\n
            \u00b18g \/ \u00b11000\u00b0\/s<\/td>\n4096<\/td>\n32.8<\/td>\n<\/tr>\n
            \u00b116g \/ \u00b12000\u00b0\/s<\/td>\n2048<\/td>\n16.4<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

            \/\/ \u52a0\u901f\u5ea6：\u00f716384 \u2192 \u5355\u4f4d g（\u9759\u6b62\u65f6\u91cd\u529b 1g \u4f1a\u843d\u5728\u67d0\u4e2a\u8f74\u4e0a）<\/span>
            \nfloat<\/span> accelX =<\/span> ax \/<\/span> 16384.0f<\/span>;<\/span>
            \nfloat<\/span> accelY =<\/span> ay \/<\/span> 16384.0f<\/span>;<\/span>
            \nfloat<\/span> accelZ =<\/span> az \/<\/span> 16384.0f<\/span>;<\/span><\/p>\n

            \/\/ \u9640\u87ba\u4eea：\u00f732.8 \u2192 \u5355\u4f4d \u00b0\/s<\/span>
            \nfloat<\/span> gyroX =<\/span> gx \/<\/span> 32.8f<\/span>;<\/span>
            \nfloat<\/span> gyroY =<\/span> gy \/<\/span> 32.8f<\/span>;<\/span>
            \nfloat<\/span> gyroZ =<\/span> gz \/<\/span> 32.8f<\/span>;<\/span><\/p>\n

            🧊 \u96f6\u504f\u6821\u51c6：\u5e2e"\u9189\u6c49"\u5148\u7ad9\u76f4<\/h4>\n

            \u8fd8\u8bb0\u5f97\u90a3\u4e2a\u4f1a\u8dd1\u504f\u7684\u9640\u87ba\u4eea\u5417？\u5b83\u9759\u6b62\u65f6\u660e\u660e\u6ca1\u8f6c，\u5374\u4f1a\u8f93\u51fa\u4e00\u4e2a\u56fa\u5b9a\u7684"\u5047\u901f\u5ea6"（\u96f6\u504f）\u3002\u5982\u679c\u4e0d\u6263\u6389，\u79ef\u5206\u4f1a\u8d8a\u6765\u8d8a\u504f\u3002<\/p>\n

            \u89e3\u51b3\u529e\u6cd5：\u4e0a\u7535\u540e\u8ba9\u5b83\u9759\u6b62\u51e0\u79d2，\u591a\u91c7\u51e0\u6b21\u5e73\u5747，\u5c31\u5f97\u5230\u8fd9\u4e2a"\u5047\u901f\u5ea6"，\u4ee5\u540e\u6bcf\u4e2a\u8bfb\u6570\u90fd\u51cf\u6389\u5b83\u3002<\/p>\n

            \/\/<\/span>
            \n\/\/ Created by 31962 on 2026\/8\/30.<\/span>
            \n\/\/<\/span>
            \n#<\/span>include<\/span> "Tmpu6050.h"<\/span><\/span>
            \n#<\/span>include<\/span> "debug_config.h"<\/span><\/span><\/p>\n

            \/\/ \u5b58\u50a8\u6821\u51c6\u504f\u79fb\u91cf（\u5168\u90e8\u4f7f\u7528\u539f\u59cb\u6709\u7b26\u53f7 16 \u4f4d\u6574\u6570 LSB \u5c3a\u5ea6，\u907f\u514d\u5355\u4f4d\u6df7\u4e71）<\/span>
            \nstatic<\/span> int16_t<\/span> ax_offset =<\/span> 0<\/span>;<\/span>
            \nstatic<\/span> int16_t<\/span> ay_offset =<\/span> 0<\/span>;<\/span>
            \nstatic<\/span> int16_t<\/span> az_offset =<\/span> 0<\/span>;<\/span>
            \nstatic<\/span> int16_t<\/span> gx_offset =<\/span> 0<\/span>;<\/span>
            \nstatic<\/span> int16_t<\/span> gy_offset =<\/span> 0<\/span>;<\/span>
            \nstatic<\/span> int16_t<\/span> gz_offset =<\/span> 0<\/span>;<\/span><\/p>\n

            uint8_t<\/span> buf[<\/span>14<\/span>]<\/span>;<\/span><\/p>\n

            \/\/ ===== \u521d\u59cb\u5316 MPU6050 =====<\/span>
            \nvoid<\/span> MPU6050_Init<\/span>(<\/span>void<\/span>)<\/span>{<\/span>
            \n HAL_Delay<\/span>(<\/span>100<\/span>)<\/span>;<\/span> \/\/ \u7b49\u5f85\u4f20\u611f\u5668\u5185\u90e8\u4f9b\u7535\u7a33\u5b9a<\/span>
            \n uint8_t<\/span> reg =<\/span> 0x01<\/span>;<\/span> \/\/ \u5524\u9192\u5e76\u9009\u62e9\u65f6\u949f\u6e90 PLL with X Gyro<\/span>
            \n HAL_I2C_Mem_Write<\/span>(<\/span>&<\/span>hi2c1,<\/span> MPU6050_ADDRESS<<<\/span>1<\/span>,<\/span> 0x6B<\/span>,<\/span> I2C_MEMADD_SIZE_8BIT,<\/span> &<\/span>reg,<\/span> 1<\/span>,<\/span> 100<\/span>)<\/span>;<\/span><\/p>\n

            reg =<\/span> 0x10<\/span>;<\/span> \/\/ \u8bbe\u9640\u87ba\u4eea\u91cf\u7a0b \u00b11000\u00b0\/s<\/span>
            \n HAL_I2C_Mem_Write<\/span>(<\/span>&<\/span>hi2c1,<\/span> MPU6050_ADDRESS<<<\/span>1<\/span>,<\/span> 0x1B<\/span>,<\/span> I2C_MEMADD_SIZE_8BIT,<\/span> &<\/span>reg,<\/span> 1<\/span>,<\/span> 100<\/span>)<\/span>;<\/span><\/p>\n

            reg =<\/span> 0x00<\/span>;<\/span> \/\/ \u8bbe\u52a0\u901f\u5ea6\u91cf\u7a0b \u00b12g (16384 LSB\/g)<\/span>
            \n HAL_I2C_Mem_Write<\/span>(<\/span>&<\/span>hi2c1,<\/span> MPU6050_ADDRESS<<<\/span>1<\/span>,<\/span> 0x1C<\/span>,<\/span> I2C_MEMADD_SIZE_8BIT,<\/span> &<\/span>reg,<\/span> 1<\/span>,<\/span> 100<\/span>)<\/span>;<\/span>
            \n}<\/span><\/p>\n

            \/\/ ===== I2C \u626b\u63cf =====<\/span>
            \nvoid<\/span> I2C_Scan<\/span>(<\/span>void<\/span>)<\/span> {<\/span>
            \n printf<\/span>(<\/span>"Scanning I2C bus…\\\\r\\\\n"<\/span>)<\/span>;<\/span>
            \n for<\/span> (<\/span>uint8_t<\/span> i =<\/span> 1<\/span>;<\/span> i <<\/span> 128<\/span>;<\/span> i++<\/span>)<\/span> {<\/span>
            \n if<\/span> (<\/span>HAL_I2C_IsDeviceReady<\/span>(<\/span>&<\/span>hi2c1,<\/span> (<\/span>i <<<\/span> 1<\/span>)<\/span>,<\/span> 1<\/span>,<\/span> 10<\/span>)<\/span> ==<\/span> HAL_OK)<\/span> {<\/span>
            \n printf<\/span>(<\/span>"Found I2C device at address: 0x%02X (8-bit: 0x%02X)\\\\r\\\\n"<\/span>,<\/span> i,<\/span> (<\/span>i <<<\/span> 1<\/span>)<\/span>)<\/span>;<\/span>
            \n return<\/span>;<\/span>
            \n }<\/span>
            \n }<\/span>
            \n printf<\/span>(<\/span>"No I2C device found!\\\\r\\\\n"<\/span>)<\/span>;<\/span>
            \n}<\/span><\/p>\n

            \/\/ ===== \u81ea\u52a8\u6821\u51c6（\u5f00\u673a\u65f6\u6c34\u5e73\u9759\u6b62\u653e\u684c\u4e0a） =====<\/span>
            \nvoid<\/span> MPU6050_Calibrate<\/span>(<\/span>void<\/span>)<\/span> {<\/span>
            \n int32_t<\/span> sum_ax =<\/span> 0<\/span>,<\/span> sum_ay =<\/span> 0<\/span>,<\/span> sum_az =<\/span> 0<\/span>;<\/span>
            \n int32_t<\/span> sum_gx =<\/span> 0<\/span>,<\/span> sum_gy =<\/span> 0<\/span>,<\/span> sum_gz =<\/span> 0<\/span>;<\/span>
            \n const<\/span> int<\/span> samples =<\/span> 200<\/span>;<\/span><\/p>\n

            debug_printf<\/span>(<\/span>"Calibrating… Keep MPU6050 still and flat!\\\\r\\\\n"<\/span>)<\/span>;<\/span><\/p>\n

            for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> samples;<\/span> i++<\/span>)<\/span> {<\/span>
            \n if<\/span> (<\/span>HAL_I2C_Mem_Read<\/span>(<\/span>&<\/span>hi2c1,<\/span> MPU6050_ADDRESS<<<\/span>1<\/span>,<\/span> 0x3B<\/span>,<\/span> I2C_MEMADD_SIZE_8BIT,<\/span> buf,<\/span> 14<\/span>,<\/span> 100<\/span>)<\/span> ==<\/span> HAL_OK)<\/span> {<\/span>
            \n \/\/ \u5fc5\u987b\u5f3a\u5236\u8f6c\u6362\u4e3a (int16_t)，\u5426\u5219\u8d1f\u6570\u4f1a\u51fa\u9519！<\/span>
            \n sum_ax +=<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>0<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>1<\/span>]<\/span>)<\/span>;<\/span>
            \n sum_ay +=<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>2<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>3<\/span>]<\/span>)<\/span>;<\/span>
            \n sum_az +=<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>4<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>5<\/span>]<\/span>)<\/span>;<\/span>
            \n sum_gx +=<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>8<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>9<\/span>]<\/span>)<\/span>;<\/span>
            \n sum_gy +=<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>10<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>11<\/span>]<\/span>)<\/span>;<\/span>
            \n sum_gz +=<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>12<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>13<\/span>]<\/span>)<\/span>;<\/span>
            \n }<\/span>
            \n HAL_Delay<\/span>(<\/span>5<\/span>)<\/span>;<\/span>
            \n }<\/span><\/p>\n

            \/\/ \u8ba1\u7b97\u504f\u5dee：<\/span>
            \n ax_offset =<\/span> sum_ax \/<\/span> samples;<\/span> \/\/ X \u8f74\u9759\u6b62\u7406\u8bba\u4e0a\u662f 0<\/span>
            \n ay_offset =<\/span> sum_ay \/<\/span> samples;<\/span> \/\/ Y \u8f74\u9759\u6b62\u7406\u8bba\u4e0a\u662f 0<\/span>
            \n \/\/ Z \u8f74\u9759\u6b62\u7406\u8bba\u4e0a\u662f 1g，\u5bf9\u5e94 16384 LSB \u523b\u5ea6！\u7528\u523b\u5ea6\u51cf\u523b\u5ea6！<\/span>
            \n az_offset =<\/span> (<\/span>sum_az \/<\/span> samples)<\/span> –<\/span> 16384<\/span>;<\/span><\/p>\n

            \/\/ \u9640\u87ba\u4eea\u9759\u6b62\u7406\u8bba\u4e0a\u5168\u4e3a 0<\/span>
            \n gx_offset =<\/span> sum_gx \/<\/span> samples;<\/span>
            \n gy_offset =<\/span> sum_gy \/<\/span> samples;<\/span>
            \n gz_offset =<\/span> sum_gz \/<\/span> samples;<\/span>
            \n}<\/span><\/p>\n

            \/\/ ===== \u8f93\u51fa\u6700\u7ec8\u6821\u51c6\u5e76\u6362\u7b97\u540e\u7684\u7269\u7406\u91cf\u6570\u636e =====<\/span>
            \nvoid<\/span> MPU6050_GetCalibratedData<\/span>(<\/span>float<\/span> *<\/span>mpu_value)<\/span> {<\/span>
            \n if<\/span> (<\/span>HAL_I2C_Mem_Read<\/span>(<\/span>&<\/span>hi2c1,<\/span> MPU6050_ADDRESS<<<\/span>1<\/span>,<\/span> 0x3B<\/span>,<\/span> I2C_MEMADD_SIZE_8BIT,<\/span> buf,<\/span> 14<\/span>,<\/span> 100<\/span>)<\/span> ==<\/span> HAL_OK)<\/span> {<\/span><\/p>\n

            \/\/ 1. \u8bfb\u53d6\u5e26\u7b26\u53f7\u7684\u539f\u59cb 16 \u4f4d\u6574\u6570<\/span>
            \n int16_t<\/span> raw_ax =<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>0<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>1<\/span>]<\/span>)<\/span>;<\/span>
            \n int16_t<\/span> raw_ay =<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>2<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>3<\/span>]<\/span>)<\/span>;<\/span>
            \n int16_t<\/span> raw_az =<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>4<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>5<\/span>]<\/span>)<\/span>;<\/span>
            \n int16_t<\/span> raw_temp =<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>6<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>7<\/span>]<\/span>)<\/span>;<\/span>
            \n int16_t<\/span> raw_gx =<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>8<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>9<\/span>]<\/span>)<\/span>;<\/span>
            \n int16_t<\/span> raw_gy =<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>10<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>11<\/span>]<\/span>)<\/span>;<\/span>
            \n int16_t<\/span> raw_gz =<\/span> (<\/span>int16_t<\/span>)<\/span>(<\/span>(<\/span>buf[<\/span>12<\/span>]<\/span> <<<\/span> 8<\/span>)<\/span> |<\/span> buf[<\/span>13<\/span>]<\/span>)<\/span>;<\/span><\/p>\n

            \/\/ 2. \u51cf\u53bb LSB \u523b\u5ea6\u504f\u5dee<\/span>
            \n int16_t<\/span> cal_ax =<\/span> raw_ax –<\/span> ax_offset;<\/span>
            \n int16_t<\/span> cal_ay =<\/span> raw_ay –<\/span> ay_offset;<\/span>
            \n int16_t<\/span> cal_az =<\/span> raw_az –<\/span> az_offset;<\/span>
            \n int16_t<\/span> cal_gx =<\/span> raw_gx –<\/span> gx_offset;<\/span>
            \n int16_t<\/span> cal_gy =<\/span> raw_gy –<\/span> gy_offset;<\/span>
            \n int16_t<\/span> cal_gz =<\/span> raw_gz –<\/span> gz_offset;<\/span><\/p>\n

            \/\/ 3. \u7edf\u4e00\u9664\u4ee5\u7075\u654f\u5ea6，\u8f6c\u6362\u4e3a\u7269\u7406 float \u5355\u4f4d<\/span>
            \n mpu_value[<\/span>0<\/span>]<\/span> =<\/span> (<\/span>float<\/span>)<\/span>cal_ax \/<\/span> 16384.0f<\/span>;<\/span> \/\/ \u52a0\u901f\u5ea6 X (g)<\/span>
            \n mpu_value[<\/span>1<\/span>]<\/span> =<\/span> (<\/span>float<\/span>)<\/span>cal_ay \/<\/span> 16384.0f<\/span>;<\/span> \/\/ \u52a0\u901f\u5ea6 Y (g)<\/span>
            \n mpu_value[<\/span>2<\/span>]<\/span> =<\/span> (<\/span>float<\/span>)<\/span>cal_az \/<\/span> 16384.0f<\/span>;<\/span> \/\/ \u52a0\u901f\u5ea6 Z (g)<\/span>
            \n mpu_value[<\/span>3<\/span>]<\/span> =<\/span> (<\/span>(<\/span>float<\/span>)<\/span>raw_temp \/<\/span> 340.0f<\/span>)<\/span> +<\/span> 36.53f<\/span>;<\/span> \/\/ \u6e29\u5ea6 (\u2103) \u4e0d\u6821\u51c6\u76f4\u63a5\u6362\u7b97<\/span>
            \n mpu_value[<\/span>4<\/span>]<\/span> =<\/span> (<\/span>float<\/span>)<\/span>cal_gx \/<\/span> 32.8f<\/span>;<\/span> \/\/ \u9640\u87ba\u4eea X (\u00b0\/s)<\/span>
            \n mpu_value[<\/span>5<\/span>]<\/span> =<\/span> (<\/span>float<\/span>)<\/span>cal_gy \/<\/span> 32.8f<\/span>;<\/span> \/\/ \u9640\u87ba\u4eea Y (\u00b0\/s)<\/span>
            \n mpu_value[<\/span>6<\/span>]<\/span> =<\/span> (<\/span>float<\/span>)<\/span>cal_gz \/<\/span> 32.8f<\/span>;<\/span> \/\/ \u9640\u87ba\u4eea Z (\u00b0\/s)<\/span>
            \n }<\/span>
            \n}<\/span><\/p>\n

            💡 \u4e09\u8f74\u90fd\u8fd9\u6837\u5904\u7406\u3002\u52a0\u901f\u5ea6\u8ba1\u4e00\u822c\u4e0d\u7528\u5927\u6821\u51c6（\u5b83\u672c\u8eab\u591f\u7a33），\u9664\u975e\u4f60\u8981\u5f88\u9ad8\u7cbe\u5ea6\u3002<\/p>\n

            \u6211\u7684\u6700\u540e\u7684\u7ed3\u679c：<\/p>\n

            \"image-20260830142640205\"<\/p>\n

            \n

            4. \u59ff\u6001\u5230\u5e95\u600e\u4e48\u63cf\u8ff0：\u6b27\u62c9\u89d2\u3001\u77e9\u9635\u3001\u56db\u5143\u6570<\/h3>\n

            🤔 \u4e00\u4e2a\u6df1\u523b\u7684\u95ee\u9898：\u600e\u4e48\u544a\u8bc9\u522b\u4eba"\u4e00\u4e2a\u7269\u4f53\u73b0\u5728\u671d\u54ea"？<\/h4>\n

            \u5148\u770b\u8fd9\u5f20\u56fe，\u4e00\u67b6\u56db\u8f74\u5728\u7a7a\u4e2d\u80fd\u7ed5\u4e09\u4e2a\u65b9\u5411\u8f6c，\u8fd9\u5c31\u662f\u5b83\u7684"\u4e09\u4e2a\u81ea\u7531\u5ea6"：<\/p>\n

            \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

            \u25b2 \u56fe 4 \u00b7 \u56db\u8f74\u7684\u4e09\u4e2a\u59ff\u6001\u89d2：Roll（\u6a2a\u6eda）\u3001Pitch（\u4fef\u4ef0）\u3001Yaw（\u504f\u822a）\u2014\u2014\u5b83\u4eec\u5b9a\u4e49\u4e86\u98de\u673a"\u671d\u54ea\u3001\u6b6a\u591a\u5c11"<\/p>\n

            \u6709\u4e09\u79cd\u4e3b\u6d41"\u8bed\u8a00"：<\/p>\n

            \u2460 \u6b27\u62c9\u89d2（Roll \/ Pitch \/ Yaw）\u2014\u2014\u6700\u76f4\u89c2<\/h5>\n
              \n
            • Roll \u6a2a\u6eda：\u50cf\u98de\u673a\u538b\u7fc5\u8180\u5f80\u5de6\/\u5f80\u53f3\u6b6a\u3002<\/li>\n
            • Pitch \u4fef\u4ef0：\u50cf\u98de\u673a\u62ac\u5934\/\u4f4e\u5934\u3002<\/li>\n
            • Yaw \u504f\u822a：\u50cf\u98de\u673a\u5728\u539f\u5730\u8f6c\u5708（\u5de6\u8f6c\/\u53f3\u8f6c）\u3002<\/li>\n
            • \u81f4\u547d\u7f3a\u70b9：\u5f53 Pitch \u8f6c\u5230\u63a5\u8fd1 \u00b190\u00b0（\u4ef0\u5934\u5230\u5929\u9876）\u65f6，\u4f1a\u9677\u5165"\u4e07\u5411\u9501"（Gimbal Lock）\u2014\u2014Roll \u548c Yaw \u7a81\u7136\u5206\u4e0d\u6e05\u4e86，\u4e22\u5931\u4e00\u4e2a\u81ea\u7531\u5ea6，\u7b97\u6cd5\u76f4\u63a5\u5d29\u6e83\u3002\u5c31\u50cf\u4e24\u4e2a\u94f0\u94fe\u53e0\u5728\u4e00\u8d77\u5361\u6b7b\u3002<\/li>\n<\/ul>\n
              \u2461 \u65cb\u8f6c\u77e9\u9635（3\u00d73）\u2014\u2014\u7cbe\u786e\u4f46\u5570\u55e6<\/h5>\n
                \n
              • \u4fe1\u606f\u5b8c\u6574\u3001\u6570\u5b66\u6e05\u695a，\u4f46\u6709 9 \u4e2a\u5143\u7d20\u3001\u4fe1\u606f\u5197\u4f59，\u800c\u4e14\u6bcf\u6b21\u8fd0\u7b97\u540e\u6570\u503c\u4f1a"\u6f02\u79fb"，\u8981\u53cd\u590d\u505a\u6b63\u4ea4\u5316\u6821\u6b63，\u5f88\u9ebb\u70e6\u3002<\/li>\n<\/ul>\n
                \u2462 \u56db\u5143\u6570（Quaternion）\u2014\u2014\u98de\u63a7\u754c\u7684"\u666e\u901a\u8bdd" \u2b50<\/h5>\n
                  \n
                • \u53ea\u7528 4 \u4e2a\u6570\u5b57，\u6ca1\u6709\u4e07\u5411\u9501，\u8fd0\u7b97\u91cf\u5c0f\u3001\u7a33\u5b9a\u6027\u597d\u3002<\/li>\n
                • \u98de\u63a7\u548c\u59ff\u6001\u89e3\u7b97\u7684\u5de5\u4e1a\u6807\u51c6，\u51e0\u4e4e\u6240\u6709\u98de\u63a7\u90fd\u7528\u5b83\u3002<\/li>\n<\/ul>\n

                  🧮 \u56db\u5143\u6570\u957f\u4ec0\u4e48\u6837？<\/h4>\n

                  \u5b83\u53ef\u4ee5\u7406\u89e3\u4e3a"\u7ed5\u4e00\u4e2a\u8f74 n \u8f6c\u4e00\u4e2a\u89d2\u5ea6 \u03b8"\u7684\u6d53\u7f29\u7f16\u7801：<\/p>\n

                  q = q0 + q1\u00b7i + q2\u00b7j + q3\u00b7k
                  \n = cos(\u03b8\/2) + sin(\u03b8\/2)\u00b7(nx\u00b7i + ny\u00b7j + nz\u00b7k)<\/p>\n

                  \u5e76\u4e14\u5b83\u5fc5\u987b\u6ee1\u8db3\u5f52\u4e00\u5316（\u6a21\u957f\u4e3a 1）：<\/p>\n

                  q0\u00b2 + q1\u00b2 + q2\u00b2 + q3\u00b2 = 1<\/p>\n

                  🔄 \u56db\u5143\u6570 \u2192 \u6b27\u62c9\u89d2（\u89e3\u7b97\u7ed3\u679c\u6700\u7ec8\u8981\u7ed9\u4eba\u770b\u7684）<\/h4>\n

                  \/\/ \u7531\u56db\u5143\u6570\u53cd\u89e3\u51fa\u4e09\u4e2a\u6b27\u62c9\u89d2<\/span>
                  \nRoll =<\/span> atan2f<\/span>(<\/span>2<\/span>*<\/span>(<\/span>q0*<\/span>q1 +<\/span> q2*<\/span>q3)<\/span>,<\/span> 1<\/span> –<\/span> 2<\/span>*<\/span>(<\/span>q1*<\/span>q1 +<\/span> q2*<\/span>q2)<\/span>)<\/span>;<\/span>
                  \nPitch =<\/span> asinf<\/span> (<\/span>2<\/span>*<\/span>(<\/span>q0*<\/span>q2 –<\/span> q1*<\/span>q3)<\/span>)<\/span>;<\/span>
                  \nYaw =<\/span> atan2f<\/span>(<\/span>2<\/span>*<\/span>(<\/span>q0*<\/span>q3 +<\/span> q1*<\/span>q2)<\/span>,<\/span> 1<\/span> –<\/span> 2<\/span>*<\/span>(<\/span>q2*<\/span>q2 +<\/span> q3*<\/span>q3)<\/span>)<\/span>;<\/span><\/p>\n

                  \u2699\ufe0f \u56db\u5143\u6570\u7684"\u5fc3\u810f"：\u59ff\u6001\u600e\u4e48\u968f\u65f6\u95f4\u66f4\u65b0？<\/h4>\n

                  \u77e5\u9053\u4e86\u89d2\u901f\u5ea6 \u03c9，\u5c31\u80fd\u63a8\u51fa\u56db\u5143\u6570\u600e\u4e48\u53d8\u3002\u8fd9\u662f\u4e00\u6761\u5fae\u5206\u65b9\u7a0b：<\/p>\n

                  dq\/dt = \u00bd \u00b7 q \u2297 \u03c9<\/p>\n

                  \u5728\u4ee3\u7801\u91cc，\u6211\u4eec\u7528"\u4e00\u9636\u79ef\u5206"\u628a\u5b83\u79bb\u6563\u5316（halfT = dt\/2）：<\/p>\n

                  \/\/ \u8fd9\u662f Mahony \/ Madgwick \u90fd\u7528\u7684\u56db\u5143\u6570\u4e00\u9636\u79ef\u5206\u6838\u5fc3<\/span>
                  \nq0 +=<\/span> (<\/span>–<\/span>q1*<\/span>gx –<\/span> q2*<\/span>gy –<\/span> q3*<\/span>gz)<\/span> *<\/span> halfT;<\/span>
                  \nq1 +=<\/span> (<\/span> q0*<\/span>gx +<\/span> q2*<\/span>gz –<\/span> q3*<\/span>gy)<\/span> *<\/span> halfT;<\/span>
                  \nq2 +=<\/span> (<\/span> q0*<\/span>gy –<\/span> q1*<\/span>gz +<\/span> q3*<\/span>gx)<\/span> *<\/span> halfT;<\/span>
                  \nq3 +=<\/span> (<\/span> q0*<\/span>gz +<\/span> q1*<\/span>gy –<\/span> q2*<\/span>gx)<\/span> *<\/span> halfT;<\/span>
                  \n\/\/ \u5f52\u4e00\u5316，\u4fdd\u8bc1\u6a21\u957f\u4e3a 1<\/span>
                  \nfloat<\/span> norm =<\/span> sqrtf<\/span>(<\/span>q0*<\/span>q0+<\/span>q1*<\/span>q1+<\/span>q2*<\/span>q2+<\/span>q3*<\/span>q3)<\/span>;<\/span>
                  \nq0\/=<\/span>norm;<\/span> q1\/=<\/span>norm;<\/span> q2\/=<\/span>norm;<\/span> q3\/=<\/span>norm;<\/span><\/p>\n

                  📌 \u4e00\u53e5\u8bdd\u8bb0\u4f4f：\u6b27\u62c9\u89d2\u76f4\u89c2\u4f46\u4f1a"\u5361\u6b7b"（\u4e07\u5411\u9501），\u56db\u5143\u6570\u6ca1\u6709\u8fd9\u4e2a\u6bdb\u75c5\u53c8\u7701\u7b97\u529b，\u6240\u4ee5\u98de\u63a7\u90fd\u7528\u56db\u5143\u6570\u3002<\/p>\n

                  \u4ee5\u4e0a\u662f\u6570\u5b66\u7814\u7a76\u751f\u9700\u8981\u7814\u7a76\u7684\u9886\u57df，\u6211\u4eec\u77e5\u9053\u5b66\u4f1a\u7528\u73b0\u6210\u7684\u7b97\u6cd5\u5e93\u6216\u5219ai\u5904\u7406\u6536\u5230\u7684\u6570\u636e\u5c31\u884c<\/p>\n

                  \n

                  5. \u59ff\u6001\u89e3\u7b97：\u600e\u4e48\u628a\u4e24\u4e2a\u4f20\u611f\u5668"\u5408\u6210"\u4e00\u4e2a\u51c6\u7684<\/h3>\n

                  🧠 \u5148\u61c2\u4e92\u8865\u6ee4\u6ce2\u601d\u60f3（\u4e00\u7ef4\u7248\u672c）<\/h4>\n

                  \u9640\u87ba\u4eea\u79ef\u5206\u51fa\u6765\u7684\u89d2\u5ea6：\u5feb\u4f46\u4f1a\u6f02\u3002 \u52a0\u901f\u5ea6\u8ba1\u7b97\u51fa\u7684\u89d2\u5ea6：\u7a33\u4f46\u4f1a\u6296\u3002<\/p>\n

                  \u4e92\u8865\u6ee4\u6ce2\u5c31\u662f\u7ed9\u5b83\u4fe9\u5404\u4e0a\u4e00\u9053"\u6ee4\u955c"，\u7136\u540e\u52a0\u6743\u76f8\u52a0：<\/p>\n

                  angle = \u03b1 \u00b7 (angle + gyro\u00b7dt) + (1\u2212\u03b1) \u00b7 angle_acc
                  \n \u2514\u2500\u2500\u2500\u2500\u2500 \u9640\u87ba\u4eea（\u6743\u91cd\u5927，\u5360 0.98）\u2500\u2500\u2500\u2500\u2500\u2518 \u2514\u2500\u52a0\u901f\u5ea6\u8ba1（\u6743\u91cd\u5c0f，\u5360 0.02）\u2500\u2518<\/p>\n

                    \n
                  • \u03b1 \u901a\u5e38\u53d6 0.95~0.98：\u5927\u90e8\u5206\u4fe1\u4efb"\u5feb"\u7684\u9640\u87ba\u4eea，<\/li>\n
                  • \u7528\u5269\u4e0b\u4e00\u70b9\u70b9"\u7a33"\u7684\u52a0\u901f\u5ea6\u8ba1，\u5077\u5077\u628a\u6f02\u79fb\u62c9\u56de\u6765\u3002<\/li>\n<\/ul>\n

                    \u9640\u87ba\u4eea \u03c9 \u2500\u2500\u25b6 [\u9ad8\u901a\u00b7\u03b1] \u2510
                    \n \u251c\u2500\u2500\u25b6 \u52a0\u6743\u6c42\u548c \u2500\u2500\u25b6 \u59ff\u6001\u89d2
                    \n \u52a0\u901f\u5ea6\u8ba1 \u2500\u2500\u25b6 [\u4f4e\u901a\u00b71\u2212\u03b1] \u2518<\/p>\n

                    🚁 \u4e09\u7ef4\u7248：Mahony \u7b97\u6cd5（\u56db\u5143\u6570\u4e92\u8865\u6ee4\u6ce2）<\/h4>\n

                    \u4e00\u7ef4\u4e92\u8865\u6ee4\u6ce2\u4e00\u6b21\u53ea\u80fd\u7b97\u4e00\u4e2a\u8f74\u3002\u628a\u540c\u6837\u7684\u601d\u60f3\u63a8\u5e7f\u5230\u4e09\u7ef4\u56db\u5143\u6570，\u5c31\u662f\u5927\u540d\u9f0e\u9f0e\u7684 Mahony \u7b97\u6cd5\u3002\u5b83\u6d41\u7a0b\u5c31\u4e09\u6b65，\u975e\u5e38\u597d\u61c2：<\/p>\n

                    \u6b65\u9aa41 \u7531\u5f53\u524d\u56db\u5143\u6570，\u53cd\u63a8"\u7406\u8bba\u91cd\u529b\u65b9\u5411" v
                    \n\u6b65\u9aa42 \u62ff\u52a0\u901f\u5ea6\u8ba1\u5b9e\u6d4b\u7684\u91cd\u529b\u65b9\u5411 a，\u4e0e v \u505a\u53c9\u79ef \u2192 \u5f97\u5230\u8bef\u5dee e = v \u00d7 a
                    \n （\u6ce8\u610f：\u9640\u87ba\u4eea\u82e5\u5b8c\u5168\u51c6，a \u5e94\u8be5\u7b49\u4e8e v；\u5dee\u5f97\u8d8a\u591a，e \u8d8a\u5927）
                    \n\u6b65\u9aa43 \u7528\u8bef\u5dee e \u901a\u8fc7 PI \u4fee\u6b63\u9640\u87ba\u4eea：\u03c9 = \u03c9 + Kp\u00b7e + Ki\u00b7\u222be
                    \n \u518d\u7528\u4fee\u6b63\u540e\u7684 \u03c9 \u53bb\u79ef\u5206\u66f4\u65b0\u56db\u5143\u6570<\/p>\n

                    \u4e00\u53e5\u8bdd：\u52a0\u901f\u5ea6\u8ba1\u662f"\u8001\u5e08"，\u8d1f\u8d23\u6311\u9640\u87ba\u4eea\u7684\u6bdb\u75c5（\u8bef\u5dee），\u901a\u8fc7 PI \u4e00\u70b9\u70b9\u7ea0\u6b63\u5b83\u7684\u6f02\u79fb\u3002<\/p>\n

                    💻 Mahony \u5b8c\u6574\u4ee3\u7801（\u53ef\u76f4\u63a5\u7528）<\/h4>\n

                    \/\/ \u8f93\u5165：\u52a0\u901f\u5ea6(\u5355\u4f4dg)\u3001\u89d2\u901f\u5ea6(rad\/s，\u6ce8\u610f\u8981\u8f6c\u6210\u5f27\u5ea6)\u3001\u91c7\u6837\u5468\u671fdt<\/span>
                    \nvoid<\/span> MahonyAHRSupdate<\/span>(<\/span>float<\/span> gx,<\/span> float<\/span> gy,<\/span> float<\/span> gz,<\/span>
                    \n float<\/span> ax,<\/span> float<\/span> ay,<\/span> float<\/span> az,<\/span>
                    \n float<\/span> dt)<\/span>{<\/span>
                    \n float<\/span> halfT =<\/span> dt\/<\/span>2.0f<\/span>;<\/span>
                    \n float<\/span> norm,<\/span> ex,<\/span> ey,<\/span> ez,<\/span> vx,<\/span> vy,<\/span> vz;<\/span><\/p>\n

                    \/\/ 1. \u5f52\u4e00\u5316\u52a0\u901f\u5ea6\u8ba1（\u53ea\u5173\u5fc3\u65b9\u5411，\u4e0d\u5173\u5fc3\u5927\u5c0f）<\/span>
                    \n norm =<\/span> sqrtf<\/span>(<\/span>ax*<\/span>ax+<\/span>ay*<\/span>ay+<\/span>az*<\/span>az)<\/span>;<\/span>
                    \n ax\/=<\/span>norm;<\/span> ay\/=<\/span>norm;<\/span> az\/=<\/span>norm;<\/span><\/p>\n

                    \/\/ 2. \u7531\u5f53\u524d\u56db\u5143\u6570\u63a8\u7b97"\u7406\u8bba\u91cd\u529b\u65b9\u5411"v（\u673a\u4f53\u5750\u6807\u7cfb\u4e0b）<\/span>
                    \n vx =<\/span> 2<\/span>*<\/span>(<\/span>q1*<\/span>q3 –<\/span> q0*<\/span>q2)<\/span>;<\/span>
                    \n vy =<\/span> 2<\/span>*<\/span>(<\/span>q0*<\/span>q1 +<\/span> q2*<\/span>q3)<\/span>;<\/span>
                    \n vz =<\/span> q0*<\/span>q0 –<\/span> q1*<\/span>q1 –<\/span> q2*<\/span>q2 +<\/span> q3*<\/span>q3;<\/span><\/p>\n

                    \/\/ 3. \u53c9\u79ef\u5f97\u5230\u59ff\u6001\u8bef\u5dee e = v \u00d7 a<\/span>
                    \n ex =<\/span> (<\/span>ay*<\/span>vz –<\/span> az*<\/span>vy)<\/span>;<\/span>
                    \n ey =<\/span> (<\/span>az*<\/span>vx –<\/span> ax*<\/span>vz)<\/span>;<\/span>
                    \n ez =<\/span> (<\/span>ax*<\/span>vy –<\/span> ay*<\/span>vx)<\/span>;<\/span><\/p>\n

                    \/\/ 4. \u8bef\u5dee\u79ef\u5206 + \u6bd4\u4f8b，\u4fee\u6b63\u9640\u87ba\u4eea（Kp\u6bd4\u4f8b\u3001Ki\u79ef\u5206）<\/span>
                    \n exInt +=<\/span> ex *<\/span> Ki *<\/span> dt;<\/span>
                    \n eyInt +=<\/span> ey *<\/span> Ki *<\/span> dt;<\/span>
                    \n ezInt +=<\/span> ez *<\/span> Ki *<\/span> dt;<\/span>
                    \n gx +=<\/span> Kp*<\/span>ex +<\/span> exInt;<\/span>
                    \n gy +=<\/span> Kp*<\/span>ey +<\/span> eyInt;<\/span>
                    \n gz +=<\/span> Kp*<\/span>ez +<\/span> ezInt;<\/span><\/p>\n

                    \/\/ 5. \u56db\u5143\u6570\u5fae\u5206\u79ef\u5206\u66f4\u65b0 + \u5f52\u4e00\u5316<\/span>
                    \n q0 +=<\/span> (<\/span>–<\/span>q1*<\/span>gx –<\/span> q2*<\/span>gy –<\/span> q3*<\/span>gz)<\/span>*<\/span>halfT;<\/span>
                    \n q1 +=<\/span> (<\/span> q0*<\/span>gx +<\/span> q2*<\/span>gz –<\/span> q3*<\/span>gy)<\/span>*<\/span>halfT;<\/span>
                    \n q2 +=<\/span> (<\/span> q0*<\/span>gy –<\/span> q1*<\/span>gz +<\/span> q3*<\/span>gx)<\/span>*<\/span>halfT;<\/span>
                    \n q3 +=<\/span> (<\/span> q0*<\/span>gz +<\/span> q1*<\/span>gy –<\/span> q2*<\/span>gx)<\/span>*<\/span>halfT;<\/span>
                    \n norm =<\/span> sqrtf<\/span>(<\/span>q0*<\/span>q0+<\/span>q1*<\/span>q1+<\/span>q2*<\/span>q2+<\/span>q3*<\/span>q3)<\/span>;<\/span>
                    \n q0\/=<\/span>norm;<\/span> q1\/=<\/span>norm;<\/span> q2\/=<\/span>norm;<\/span> q3\/=<\/span>norm;<\/span>
                    \n}<\/span><\/p>\n

                    🎛\ufe0f \u53c2\u6570\u7ecf\u9a8c（\u5148\u8bb0\u4e2a\u5927\u6982，\u540e\u9762\u518d\u8c03）<\/h4>\n
                      \n
                    • Kp（\u7ea0\u504f\u529b\u5ea6）：\u8d8a\u5927\u54cd\u5e94\u8d8a\u5feb，\u4f46\u592a\u5927\u5f15\u5165\u566a\u58f0\u3002\u5e38\u7528\u8d77\u6b65\u503c 2.0\u3002<\/li>\n
                    • Ki（\u6d88\u9664\u9640\u87ba\u96f6\u504f）：\u7528\u4e8e\u6d88\u9664\u957f\u65f6\u95f4\u6f02\u79fb\u3002\u5e38\u7528\u8d77\u6b65\u503c 0.005\u3002<\/li>\n
                    • \u91c7\u6837\u5468\u671f dt \u5efa\u8bae 1~5ms（\u4e3b\u5faa\u73af\u91cc\u8dd1）\u3002<\/li>\n
                    • \u8c03\u53c2\u65b9\u6cd5：\u628a\u89d2\u5ea6\u901a\u8fc7\u4e32\u53e3\u753b\u51fa\u6765，\u770b\u54cd\u5e94\u5feb\u4e0d\u5feb\u3001\u4f1a\u4e0d\u4f1a\u9707\u8361，\u518d\u5fae\u8c03\u3002<\/li>\n<\/ul>\n
                      \n

                      6. \u8fdb\u9636\u6ee4\u6ce2：\u5361\u5c14\u66fc \u548c DMP（\u5077\u61d2\u795e\u5668）<\/h3>\n

                      🧠 \u5361\u5c14\u66fc\u6ee4\u6ce2：\u4f1a"\u81ea\u5df1\u5b66\u4e60\u600e\u4e48\u52a0\u6743"\u7684\u9ad8\u624b<\/h4>\n

                      \u4e92\u8865\u6ee4\u6ce2\u7684\u6743\u91cd \u03b1 \u662f\u5199\u6b7b\u7684\u3002\u5361\u5c14\u66fc\u6ee4\u6ce2\u66f4\u806a\u660e：\u5b83\u6709\u4e00\u4e2a\u9884\u6d4b + \u6821\u6b63\u7684\u4e24\u6b65\u5faa\u73af，\u4f1a\u6839\u636e\u566a\u58f0\u81ea\u52a8\u8c03\u6574\u6743\u91cd，\u662f"\u7ebf\u6027\u7cfb\u7edf\u7684\u6700\u4f18\u4f30\u8ba1\u5668"\u3002<\/p>\n

                      \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510 \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510
                      \n \u9884\u6d4b \u2502 \u89d2\u5ea6=\u89d2\u5ea6+ \u2502\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25b6\u2502 \u6821\u6b63 \u2502
                      \n \u2502 (gyro-bias)dt\u2502 \u2502 \u89d2\u5ea6 += K\u00b7(…)\u2502
                      \n \u2502 P = APAT+Q \u2502 \u2502 K = \u6700\u4f18\u589e\u76ca \u2502
                      \n \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518
                      \n \u25b2 \u2502
                      \n \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 (\u5faa\u73af)<\/p>\n

                      \u516c\u5f0f（\u4e0d\u7528\u80cc，\u7406\u89e3\u5373\u53ef）：<\/p>\n

                      \u9884\u6d4b：x\u0302k = A\u00b7x\u0302k-1 + B\u00b7uk ， Pk = A\u00b7Pk-1\u00b7A\u1d40 + Q
                      \n\u6821\u6b63：K = Pk\u00b7H\u1d40(H\u00b7Pk\u00b7H\u1d40+R)\u207b\u00b9 ， x\u0302k = x\u0302k + K\u00b7(zk \u2212 H\u00b7x\u0302k)<\/p>\n

                        \n
                      • \u4f18\u70b9：\u66f4\u4f18\u3001\u80fd\u663e\u5f0f\u5efa\u6a21\u566a\u58f0\u3002<\/li>\n
                      • \u7f3a\u70b9：\u7b97\u5f97\u591a\u4e00\u70b9，\u8981\u8c03 3 \u4e2a\u566a\u58f0\u53c2\u6570（Q_angle\u3001Q_gyro\u3001R_angle），\u8c03\u8d77\u6765\u6bd4\u4e92\u8865\u6ee4\u6ce2\u8d39\u52b2\u3002<\/li>\n
                      • \u65e9\u671f\u5728 51\/STM32 \u4e0a\u5f88\u6d41\u884c\u505a\u5355\u8f74\u59ff\u6001（\u4e00\u6b21\u7b97\u4e00\u4e2a\u8f74）\u3002<\/li>\n<\/ul>\n

                        😴 DMP：MPU6050 \u81ea\u5e26\u7684"\u5077\u61d2\u795e\u5668"<\/h4>\n

                        \u91cd\u70b9\u6765\u4e86！MPU6050 \u82af\u7247\u5185\u90e8\u81ea\u5e26\u4e00\u4e2a\u6570\u5b57\u8fd0\u52a8\u5904\u7406\u5668 DMP，\u53ef\u4ee5\u76f4\u63a5\u5728\u786c\u4ef6\u91cc\u5b8c\u6210\u59ff\u6001\u89e3\u7b97，\u8f93\u51fa\u73b0\u6210\u7684\u56db\u5143\u6570，\u90fd\u4e0d\u7528\u4f60\u81ea\u5df1\u5199 Mahony\/\u5361\u5c14\u66fc！<\/p>\n

                        \/\/ \u4ece DMP \u7684 FIFO \u8bfb\u51fa\u56db\u5143\u6570（q30 \u5b9a\u70b9\u683c\u5f0f）<\/span>
                        \nlong<\/span> quat[<\/span>4<\/span>]<\/span>;<\/span>
                        \ndmp_read_fifo<\/span>(<\/span>gyro,<\/span> accel,<\/span> quat,<\/span> &<\/span>timestamp,<\/span> &<\/span>sensors,<\/span> &<\/span>more)<\/span>;<\/span><\/p>\n

                        \/\/ \u9664\u4ee5 2^30 \u8f6c\u6210\u6d6e\u70b9<\/span>
                        \nq0 =<\/span> quat[<\/span>0<\/span>]<\/span> \/<\/span> 1073741824.0f<\/span>;<\/span>
                        \nq1 =<\/span> quat[<\/span>1<\/span>]<\/span> \/<\/span> 1073741824.0f<\/span>;<\/span>
                        \nq2 =<\/span> quat[<\/span>2<\/span>]<\/span> \/<\/span> 1073741824.0f<\/span>;<\/span>
                        \nq3 =<\/span> quat[<\/span>3<\/span>]<\/span> \/<\/span> 1073741824.0f<\/span>;<\/span>
                        \n\/\/ \u518d\u7528\u4e0a\u7ae0\u7684\u516c\u5f0f\u628a\u56db\u5143\u6570\u6362\u7b97\u6210\u6b27\u62c9\u89d2\u5373\u53ef<\/span><\/p>\n

                        💡 \u5b98\u65b9\u79fb\u690d\u5305 MPU6050 + dmp6Axis（Jrowberg）\u662f\u5927\u5bb6\u6700\u5e38\u7528\u7684\u3002\u79fb\u690d\u597d\u5c31\u80fd\u76f4\u63a5\u62ff\u89d2\u5ea6，\u975e\u5e38\u9002\u5408\u5feb\u901f\u4e0a\u624b\u6216\u7b97\u529b\u4f4e\u7684 MCU\u3002<\/p>\n

                        \u2696\ufe0f \u56db\u79cd\u65b9\u6848\u600e\u4e48\u9009？（\u4e00\u5f20\u8868\u770b\u6e05）<\/h4>\n\n\u65b9\u6848\u539f\u7406\u8ba1\u7b97\u91cf\u7a33\u5b9a\u6027\u9002\u5408\u573a\u666f<\/tr>\n\n\n\n\n\n
                        \u4e00\u9636\u4e92\u8865\u6ee4\u6ce2<\/td>\n\u56fa\u5b9a\u6743\u91cd\u52a0\u6743<\/td>\n\u5f88\u5c0f<\/td>\n\u4e00\u822c<\/td>\n\u5e73\u8861\u5c0f\u8f66\u3001\u5165\u95e8\u7406\u89e3<\/td>\n<\/tr>\n
                        \u5361\u5c14\u66fc\u6ee4\u6ce2<\/td>\n\u6700\u4f18\u4f30\u8ba1（\u9884\u6d4b+\u6821\u6b63）<\/td>\n\u4e2d<\/td>\n\u8f83\u597d，\u8981\u8c03\u53c2\u6570<\/td>\n\u5355\u8f74\u89d2\u5ea6\u3001\u8981\u5e73\u6ed1<\/td>\n<\/tr>\n
                        Mahony\/Madgwick<\/td>\n\u56db\u5143\u6570\u4e92\u8865\u6ee4\u6ce2<\/td>\n\u5c0f<\/td>\n\u597d\u3001\u65e0\u4e07\u5411\u9501<\/td>\n\u98de\u63a7\u59ff\u6001\u89e3\u7b97（\u6700\u63a8\u8350）<\/td>\n<\/tr>\n
                        \u786c\u4ef6 DMP<\/td>\n\u82af\u7247\u5185\u90e8\u786c\u4ef6\u89e3\u7b97<\/td>\n\u6700\u5c0f(MCU)<\/td>\n\u597d，\u4f46\u91c7\u6837\u7387\u56fa\u5b9a<\/td>\n\u5feb\u901f\u4e0a\u624b\u3001\u4f4e\u7b97\u529b MCU<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                        \u4ee5\u4e0b\u662f\u5bf9roll\u548cpitch\u89d2\u8fdb\u884c\u6ee4\u6ce2，\u56e0\u4e3a MPU6050 \u53ea\u6709 6 \u4e2a\u8f74，\u6ca1\u6709\u201c\u5730\u78c1\u8ba1\u201d（\u6307\u5357\u9488），\u6240\u4ee5\u5b83\u5728\u7269\u7406\u4e0a\u6839\u672c\u65e0\u6cd5\u5bf9 Yaw（\u504f\u822a\u89d2）\u8fdb\u884c\u6ee4\u6ce2\u6821\u6b63<\/p>\n

                        \u4ee5\u4e0a\u90fd\u6709ai\u548c\u7b97\u6cd5\u5e93\u5b9e\u73b0，\u76f4\u63a5\u8c03\u7528api\u5c31\u884c，\u63a5\u4e0b\u6765\u6211\u4f1a\u5bf9\u6bd4\u6ca1\u6709\u6ee4\u6ce2\u548c\u6ee4\u6ce2\u4ee5\u540e\u7684\u6548\u679c，\u901a\u8fc7vofa\u5c55\u793a<\/p>\n

                        5.1 \u4e00\u9636\u4e92\u8865\u6ee4\u6ce2<\/h3>\n

                        1. \u6ee4\u6ce2\u5668\u5934\u6587\u4ef6 mpu6050_filter.h<\/h4>\n

                        \u521b\u5efa\u5982\u4e0b\u7684\u6587\u4ef6，\u7c98\u8d34\u590d\u5236：<\/p>\n

                        #ifndef __MPU6050_FILTER_H
                        \n#define __MPU6050_FILTER_H<\/p>\n

                        #include "main.h"
                        \n#include "Tmpu6050.h"
                        \n#include <math.h><\/p>\n

                        \/\/ ==================== \u59ff\u6001\u89d2\u7ed3\u6784\u4f53 ====================
                        \ntypedef struct {
                        \n float pitch; \/\/ \u4fef\u4ef0\u89d2 (\u7ed5Y\u8f74，\u62ac\u5934\u4f4e\u5934)
                        \n float roll; \/\/ \u7ffb\u6eda\u89d2 (\u7ed5X\u8f74，\u5de6\u53f3\u503e\u659c)
                        \n float yaw; \/\/ \u504f\u822a\u89d2 (\u7ed5Z\u8f74，\u5de6\u53f3\u8f6c\u5411，\u4ec5\u9640\u87ba\u4eea\u79ef\u5206)
                        \n} Attitude_t;<\/p>\n

                        \/\/ ==================== \u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u72b6\u6001\u7ed3\u6784\u4f53 ====================
                        \ntypedef struct {
                        \n float angle; \/\/ \u5f53\u524d\u6700\u4f18\u89d2\u5ea6\u4f30\u8ba1\u503c
                        \n float bias; \/\/ \u5f53\u524d\u9640\u87ba\u4eea\u96f6\u504f\u4f30\u8ba1\u503c
                        \n float P[2][2]; \/\/ \u8bef\u5dee\u534f\u65b9\u5dee\u77e9\u9635 (2×2)
                        \n float Q_angle; \/\/ \u89d2\u5ea6\u8fc7\u7a0b\u566a\u58f0 (\u8d8a\u5c0f\u8d8a\u4fe1\u4efb\u9640\u87ba\u4eea)
                        \n float Q_bias; \/\/ \u96f6\u504f\u8fc7\u7a0b\u566a\u58f0
                        \n float R_measure; \/\/ \u6d4b\u91cf\u566a\u58f0 (\u8d8a\u5c0f\u8d8a\u4fe1\u4efb\u52a0\u901f\u5ea6\u8ba1)
                        \n} Kalman_t;<\/p>\n

                        \/\/ ==================== \u51fd\u6570\u58f0\u660e ====================<\/p>\n

                        \/\/ — \u901a\u7528\u5de5\u5177 —
                        \nvoid MPU6050_GetAccelAngles(float *mpu_data, float *accel_pitch, float *accel_roll);<\/p>\n

                        \/\/ — \u65b9\u6cd5\u2460：\u4e00\u9636\u4e92\u8865\u6ee4\u6ce2 —
                        \nvoid Filter_Complementary1st_Init(Attitude_t *att);
                        \nvoid Filter_Complementary1st_Update(Attitude_t *att, float *mpu_data, float dt);<\/p>\n

                        \/\/ — \u65b9\u6cd5\u2461：\u4e8c\u9636\u4e92\u8865\u6ee4\u6ce2 —
                        \nvoid Filter_Complementary2nd_Init(Attitude_t *att);
                        \nvoid Filter_Complementary2nd_Update(Attitude_t *att, float *mpu_data, float dt);<\/p>\n

                        \/\/ — \u65b9\u6cd5\u2462：\u5361\u5c14\u66fc\u6ee4\u6ce2 —
                        \nvoid Filter_Kalman_Init(Kalman_t *kf);
                        \nfloat Filter_Kalman_Update(Kalman_t *kf, float accel_angle, float gyro_rate, float dt);
                        \nvoid Filter_Kalman_GetAttitude(Kalman_t *kf_pitch, Kalman_t *kf_roll,
                        \n Attitude_t *att, float *mpu_data, float dt);<\/p>\n

                        \/\/ — VOFA+ \u8f93\u51fa (JustFloat \u534f\u8bae) —
                        \nvoid VOFA_SendData(float *data, uint8_t count);<\/p>\n

                        #endif<\/p>\n

                        \n

                        2. \u6ee4\u6ce2\u5668\u5b9e\u73b0 mpu6050_filter.c<\/h4>\n

                        #include "mpu6050_filter.h"
                        \n#include <string.h>
                        \n#include <stdio.h><\/p>\n

                        extern UART_HandleTypeDef huart1; \/\/ \u6839\u636e\u4f60\u7684\u5b9e\u9645\u4e32\u53e3\u4fee\u6539<\/p>\n

                        \/\/ ================================================================
                        \n\/\/ \u901a\u7528\u5de5\u5177：\u52a0\u901f\u5ea6\u8ba1\u7b97\u503e\u89d2
                        \n\/\/ ================================================================
                        \n\/\/ \u7528 atan2 \u4ece\u52a0\u901f\u5ea6\u76f4\u63a5\u7b97\u51fa\u9759\u6001\u89d2\u5ea6（\u53ea\u5728\u9759\u6b62\/\u7f13\u6162\u8fd0\u52a8\u65f6\u51c6\u786e）
                        \nvoid MPU6050_GetAccelAngles(float *mpu_data, float *accel_pitch, float *accel_roll) {
                        \n float ax = mpu_data[0]; \/\/ \u5355\u4f4d: g
                        \n float ay = mpu_data[1];
                        \n float az = mpu_data[2];<\/p>\n

                        \/\/ Pitch: \u7ed5Y\u8f74\u65cb\u8f6c（\u62ac\u5934\u4f4e\u5934）
                        \n *accel_pitch = atan2f(ax, sqrtf(ay * ay + az * az)) * 57.2957795f; \/\/ \u5f27\u5ea6\u8f6c\u89d2\u5ea6<\/p>\n

                        \/\/ Roll: \u7ed5X\u8f74\u65cb\u8f6c（\u5de6\u53f3\u503e\u659c）
                        \n *accel_roll = atan2f(ay, sqrtf(ax * ax + az * az)) * 57.2957795f;
                        \n}<\/p>\n

                        \/\/ ================================================================
                        \n\/\/ \u65b9\u6cd5\u2460：\u4e00\u9636\u4e92\u8865\u6ee4\u6ce2 (First-Order Complementary)
                        \n\/\/ ================================================================
                        \n\/\/ \u539f\u7406：
                        \n\/\/ angle = \u03b1 * (angle + gyro * dt) + (1-\u03b1) * accel_angle
                        \n\/\/ \u2191 \u9ad8\u901a\u6ee4\u6ce2（\u4fe1\u4efb\u9640\u87ba\u4eea\u77ed\u671f\u53d8\u5316） \u2191 \u4f4e\u901a\u6ee4\u6ce2（\u4fe1\u4efb\u52a0\u901f\u5ea6\u8ba1\u957f\u671f\u8d8b\u52bf）
                        \n\/\/ \u03b1 \u8d8a\u5927 \u2192 \u8d8a\u4fe1\u4efb\u9640\u87ba\u4eea（\u54cd\u5e94\u5feb\u4f46\u4f1a\u6f02\u79fb）
                        \n\/\/ \u03b1 \u8d8a\u5c0f \u2192 \u8d8a\u4fe1\u4efb\u52a0\u901f\u5ea6\u8ba1（\u7a33\u5b9a\u4f46\u6709\u9707\u52a8\u566a\u58f0）
                        \n\/\/ ================================================================<\/p>\n

                        #define COMP1_ALPHA 0.98f \/\/ \u4e92\u8865\u7cfb\u6570，\u901a\u5e38\u53d6 0.95 ~ 0.99<\/p>\n

                        void Filter_Complementary1st_Init(Attitude_t *att) {
                        \n att->pitch = 0.0f;
                        \n att->roll = 0.0f;
                        \n att->yaw = 0.0f;
                        \n}<\/p>\n

                        void Filter_Complementary1st_Update(Attitude_t *att, float *mpu_data, float dt) {
                        \n \/\/ 1. \u4ece\u52a0\u901f\u5ea6\u8ba1\u7b97\u9759\u6001\u89d2\u5ea6
                        \n float accel_pitch, accel_roll;
                        \n MPU6050_GetAccelAngles(mpu_data, &accel_pitch, &accel_roll);<\/p>\n

                        \/\/ 2. \u8bfb\u53d6\u9640\u87ba\u4eea\u89d2\u901f\u5ea6 (\u00b0\/s)
                        \n float gyro_x = mpu_data[4]; \/\/ Roll \u65b9\u5411\u7684\u89d2\u901f\u5ea6
                        \n float gyro_y = mpu_data[5]; \/\/ Pitch \u65b9\u5411\u7684\u89d2\u901f\u5ea6
                        \n float gyro_z = mpu_data[6]; \/\/ Yaw \u65b9\u5411\u7684\u89d2\u901f\u5ea6<\/p>\n

                        \/\/ 3. \u4e00\u9636\u4e92\u8865\u6ee4\u6ce2\u6838\u5fc3\u516c\u5f0f
                        \n \/\/ \u77ed\u671f\u76f8\u4fe1\u9640\u87ba\u4eea\u79ef\u5206，\u957f\u671f\u7528\u52a0\u901f\u5ea6\u8ba1\u4fee\u6b63\u6f02\u79fb
                        \n att->pitch = COMP1_ALPHA * (att->pitch + gyro_y * dt) + (1.0f – COMP1_ALPHA) * accel_pitch;
                        \n att->roll = COMP1_ALPHA * (att->roll + gyro_x * dt) + (1.0f – COMP1_ALPHA) * accel_roll;
                        \n att->yaw += gyro_z * dt; \/\/ Yaw \u53ea\u80fd\u9760\u9640\u87ba\u4eea\u79ef\u5206（\u52a0\u901f\u5ea6\u8ba1\u65e0\u6cd5\u6d4b\u504f\u822a）
                        \n}<\/p>\n

                        \/\/ ================================================================
                        \n\/\/ \u65b9\u6cd5\u2461：\u4e8c\u9636\u4e92\u8865\u6ee4\u6ce2 (Second-Order Complementary)
                        \n\/\/ ================================================================
                        \n\/\/ \u539f\u7406：\u5728\u4e00\u9636\u4e92\u8865\u7684\u57fa\u7840\u4e0a，\u5f15\u5165\u52a0\u901f\u5ea6\u8ba1\u89d2\u5ea6\u7684\u53d8\u5316\u7387\u4f5c\u4e3a\u7b2c\u4e8c\u4e2a\u4fee\u6b63\u9879，
                        \n\/\/ \u76f8\u5f53\u4e8e\u591a\u4e86\u4e00\u4e2a"\u5fae\u5206\u6821\u6b63"\u73af\u8282，\u8ba9\u6ee4\u6ce2\u5668\u5bf9\u7a81\u53d8\u66f4\u654f\u611f\u4e14\u66f4\u5e73\u6ed1\u3002
                        \n\/\/
                        \n\/\/ x1 = (accel_angle – angle) * k1
                        \n\/\/ x2 += (accel_angle – angle) * k2 * dt
                        \n\/\/ angle += (gyro_rate + x1 + x2) * dt
                        \n\/\/ ================================================================<\/p>\n

                        \/\/ \u4e8c\u9636\u4e92\u8865\u6ee4\u6ce2\u5185\u90e8\u72b6\u6001
                        \nstatic float comp2_x1_pitch = 0, comp2_x2_pitch = 0;
                        \nstatic float comp2_x1_roll = 0, comp2_x2_roll = 0;<\/p>\n

                        #define COMP2_K1 0.02f \/\/ \u6bd4\u4f8b\u4fee\u6b63\u7cfb\u6570（\u8d8a\u5927\u8d8a\u4fe1\u52a0\u901f\u5ea6\u8ba1）
                        \n#define COMP2_K2 0.005f \/\/ \u79ef\u5206\u4fee\u6b63\u7cfb\u6570（\u6d88\u9664\u7a33\u6001\u8bef\u5dee）<\/p>\n

                        void Filter_Complementary2nd_Init(Attitude_t *att) {
                        \n att->pitch = 0.0f;
                        \n att->roll = 0.0f;
                        \n att->yaw = 0.0f;
                        \n comp2_x1_pitch = 0; comp2_x2_pitch = 0;
                        \n comp2_x1_roll = 0; comp2_x2_roll = 0;
                        \n}<\/p>\n

                        void Filter_Complementary2nd_Update(Attitude_t *att, float *mpu_data, float dt) {
                        \n float accel_pitch, accel_roll;
                        \n MPU6050_GetAccelAngles(mpu_data, &accel_pitch, &accel_roll);<\/p>\n

                        float gyro_x = mpu_data[4];
                        \n float gyro_y = mpu_data[5];
                        \n float gyro_z = mpu_data[6];<\/p>\n

                        \/\/ — Pitch \u4e8c\u9636\u4e92\u8865 —
                        \n float err_pitch = accel_pitch – att->pitch; \/\/ \u52a0\u901f\u5ea6\u8ba1\u4e0e\u5f53\u524d\u4f30\u8ba1\u7684\u504f\u5dee
                        \n comp2_x1_pitch = err_pitch * COMP2_K1; \/\/ \u6bd4\u4f8b\u4fee\u6b63
                        \n comp2_x2_pitch += err_pitch * COMP2_K2 * dt; \/\/ \u79ef\u5206\u4fee\u6b63（\u6d88\u9664\u7a33\u6001\u504f\u5dee）
                        \n att->pitch += (gyro_y + comp2_x1_pitch + comp2_x2_pitch) * dt;<\/p>\n

                        \/\/ — Roll \u4e8c\u9636\u4e92\u8865 —
                        \n float err_roll = accel_roll – att->roll;
                        \n comp2_x1_roll = err_roll * COMP2_K1;
                        \n comp2_x2_roll += err_roll * COMP2_K2 * dt;
                        \n att->roll += (gyro_x + comp2_x1_roll + comp2_x2_roll) * dt;<\/p>\n

                        \/\/ — Yaw \u4ec5\u9640\u87ba\u4eea\u79ef\u5206 —
                        \n att->yaw += gyro_z * dt;
                        \n}<\/p>\n

                        \/\/ ================================================================
                        \n\/\/ \u65b9\u6cd5\u2462：\u5361\u5c14\u66fc\u6ee4\u6ce2 (Kalman Filter)
                        \n\/\/ ================================================================
                        \n\/\/ \u539f\u7406（\u7b80\u5316\u7248）：
                        \n\/\/ \u9884\u6d4b\u9636\u6bb5：\u7528\u9640\u87ba\u4eea\u79ef\u5206\u9884\u6d4b\u4e0b\u4e00\u65f6\u523b\u7684\u89d2\u5ea6
                        \n\/\/ \u66f4\u65b0\u9636\u6bb5：\u7528\u52a0\u901f\u5ea6\u8ba1\u7684\u6d4b\u91cf\u503c\u4fee\u6b63\u9884\u6d4b\u7ed3\u679c
                        \n\/\/ \u5361\u5c14\u66fc\u589e\u76ca K \u4f1a\u81ea\u52a8\u8c03\u6574：
                        \n\/\/ – \u5982\u679c\u52a0\u901f\u5ea6\u8ba1\u566a\u58f0\u5927 \u2192 K \u53d8\u5c0f \u2192 \u66f4\u4fe1\u4efb\u9640\u87ba\u4eea
                        \n\/\/ – \u5982\u679c\u9640\u87ba\u4eea\u6f02\u79fb\u5927 \u2192 K \u53d8\u5927 \u2192 \u66f4\u4fe1\u4efb\u52a0\u901f\u5ea6\u8ba1
                        \n\/\/ \u6700\u7ec8\u5f97\u5230"\u6570\u5b66\u4e0a\u6700\u4f18"\u7684\u89d2\u5ea6\u4f30\u8ba1
                        \n\/\/ ================================================================<\/p>\n

                        void Filter_Kalman_Init(Kalman_t *kf) {
                        \n kf->angle = 0.0f;
                        \n kf->bias = 0.0f;
                        \n kf->P[0][0] = 1.0f; kf->P[0][1] = 0.0f;
                        \n kf->P[1][0] = 0.0f; kf->P[1][1] = 1.0f;<\/p>\n

                        \/\/ \u566a\u58f0\u53c2\u6570（\u53ef\u6839\u636e\u5b9e\u9645\u4f20\u611f\u5668\u566a\u58f0\u8c03\u6574）
                        \n kf->Q_angle = 0.001f; \/\/ \u89d2\u5ea6\u8fc7\u7a0b\u566a\u58f0（\u8d8a\u5c0f \u2192 \u8d8a\u4fe1\u4efb\u9640\u87ba\u4eea\u9884\u6d4b）
                        \n kf->Q_bias = 0.003f; \/\/ \u96f6\u504f\u8fc7\u7a0b\u566a\u58f0
                        \n kf->R_measure = 0.03f; \/\/ \u6d4b\u91cf\u566a\u58f0（\u8d8a\u5c0f \u2192 \u8d8a\u4fe1\u4efb\u52a0\u901f\u5ea6\u8ba1\u6d4b\u91cf）
                        \n}<\/p>\n

                        float Filter_Kalman_Update(Kalman_t *kf, float accel_angle, float gyro_rate, float dt) {
                        \n \/\/ ========== \u7b2c\u4e00\u6b65：\u9884\u6d4b (Predict) ==========
                        \n \/\/ \u7528\u9640\u87ba\u4eea\u89d2\u901f\u5ea6\u9884\u6d4b\u5f53\u524d\u89d2\u5ea6（\u51cf\u53bb\u4f30\u8ba1\u7684\u96f6\u504f）
                        \n kf->angle += dt * (gyro_rate – kf->bias);<\/p>\n

                        \/\/ \u66f4\u65b0\u8bef\u5dee\u534f\u65b9\u5dee\u77e9\u9635（\u4e0d\u786e\u5b9a\u6027\u4f1a\u968f\u65f6\u95f4\u589e\u5927）
                        \n kf->P[0][0] += dt * (dt * kf->P[1][1] – kf->P[0][1] – kf->P[1][0] + kf->Q_angle);
                        \n kf->P[0][1] -= dt * kf->P[1][1];
                        \n kf->P[1][0] -= dt * kf->P[1][1];
                        \n kf->P[1][1] += kf->Q_bias * dt;<\/p>\n

                        \/\/ ========== \u7b2c\u4e8c\u6b65：\u66f4\u65b0 (Update) ==========
                        \n \/\/ \u8ba1\u7b97\u5361\u5c14\u66fc\u589e\u76ca K
                        \n float S = kf->P[0][0] + kf->R_measure; \/\/ \u521b\u65b0\u534f\u65b9\u5dee
                        \n float K[2]; \/\/ \u5361\u5c14\u66fc\u589e\u76ca\u5411\u91cf
                        \n K[0] = kf->P[0][0] \/ S;
                        \n K[1] = kf->P[1][0] \/ S;<\/p>\n

                        \/\/ \u7528\u52a0\u901f\u5ea6\u8ba1\u6d4b\u91cf\u503c\u4fee\u6b63\u9884\u6d4b
                        \n float y = accel_angle – kf->angle; \/\/ \u521b\u65b0（\u6d4b\u91cf\u6b8b\u5dee）
                        \n kf->angle += K[0] * y;
                        \n kf->bias += K[1] * y;<\/p>\n

                        \/\/ \u66f4\u65b0\u8bef\u5dee\u534f\u65b9\u5dee\u77e9\u9635（\u4e0d\u786e\u5b9a\u6027\u56e0\u4fee\u6b63\u800c\u51cf\u5c0f）
                        \n float P00_temp = kf->P[0][0];
                        \n float P01_temp = kf->P[0][1];
                        \n kf->P[0][0] -= K[0] * P00_temp;
                        \n kf->P[0][1] -= K[0] * P01_temp;
                        \n kf->P[1][0] -= K[1] * P00_temp;
                        \n kf->P[1][1] -= K[1] * P01_temp;<\/p>\n

                        return kf->angle;
                        \n}<\/p>\n

                        \/\/ \u5c01\u88c5：\u4e00\u6b21\u6027\u8ba1\u7b97 Pitch \u548c Roll
                        \nvoid Filter_Kalman_GetAttitude(Kalman_t *kf_pitch, Kalman_t *kf_roll,
                        \n Attitude_t *att, float *mpu_data, float dt) {
                        \n float accel_pitch, accel_roll;
                        \n MPU6050_GetAccelAngles(mpu_data, &accel_pitch, &accel_roll);<\/p>\n

                        att->pitch = Filter_Kalman_Update(kf_pitch, accel_pitch, mpu_data[5], dt);
                        \n att->roll = Filter_Kalman_Update(kf_roll, accel_roll, mpu_data[4], dt);
                        \n att->yaw += mpu_data[6] * dt;
                        \n}<\/p>\n

                        \/\/ ================================================================
                        \n\/\/ VOFA+ JustFloat \u534f\u8bae\u8f93\u51fa
                        \n\/\/ ================================================================
                        \n\/\/ VOFA+ \u7684 JustFloat \u534f\u8bae：
                        \n\/\/ \u76f4\u63a5\u53d1\u9001 float \u6570\u636e\u7684\u4e8c\u8fdb\u5236\u539f\u59cb\u5b57\u8282（\u5c0f\u7aef\u5e8f）
                        \n\/\/ \u6bcf\u7ec4\u6570\u636e\u7ed3\u5c3e\u8ffd\u52a0 4 \u4e2a\u5b57\u8282\u7684\u5e27\u5c3e：0x00 0x00 0x80 0x7F
                        \n\/\/ VOFA+ \u4f1a\u81ea\u52a8\u8bc6\u522b\u5e76\u753b\u51fa\u6ce2\u5f62
                        \n\/\/ ================================================================<\/p>\n

                        void VOFA_SendData(float *data, uint8_t count) {
                        \n \/\/ \u5e27\u5c3e\u6807\u5fd7（\u56fa\u5b9a\u4e3a 0x007F8000 \u7684\u5c0f\u7aef\u8868\u793a）
                        \n static const uint8_t tail[4] = {0x00, 0x00, 0x80, 0x7F};<\/p>\n

                        \/\/ \u53d1\u9001\u6240\u6709 float \u6570\u636e（\u6bcf\u4e2a float \u5360 4 \u5b57\u8282）
                        \n HAL_UART_Transmit(&huart1, (uint8_t *)data, count * sizeof(float), 10);<\/p>\n

                        \/\/ \u53d1\u9001\u5e27\u5c3e
                        \n HAL_UART_Transmit(&huart1, (uint8_t *)tail, 4, 10);
                        \n}<\/p>\n

                        \n

                        3. \u4e3b\u51fd\u6570 main.c \u2014 \u56db\u79cd\u6ee4\u6ce2\u5bf9\u6bd4\u9a8c\u8bc1<\/h4>\n

                        \/* USER CODE BEGIN Header *\/
                        \n\/**
                        \n ******************************************************************************
                        \n * @file : main.c
                        \n * @brief : Main program body
                        \n ******************************************************************************
                        \n * @attention
                        \n *
                        \n * Copyright (c) 2026 STMicroelectronics.
                        \n * All rights reserved.
                        \n *
                        \n * This software is licensed under terms that can be found in the LICENSE file
                        \n * in the root directory of this software component.
                        \n * If no LICENSE file comes with this software, it is provided AS-IS.
                        \n *
                        \n ******************************************************************************
                        \n *\/
                        \n\/* USER CODE END Header *\/
                        \n\/* Includes ——————————————————————*\/
                        \n#include "main.h"
                        \n#include "i2c.h"
                        \n#include "usart.h"
                        \n#include "gpio.h"<\/p>\n

                        \/* Private includes ———————————————————-*\/
                        \n\/* USER CODE BEGIN Includes *\/
                        \n#include "debug_config.h"
                        \n#include "Tmpu6050.h"
                        \n#include "mpu6050_filter_all.h"
                        \n\/* USER CODE END Includes *\/<\/p>\n

                        \/* Private typedef ———————————————————–*\/
                        \n\/* USER CODE BEGIN PTD *\/<\/p>\n

                        \/* USER CODE END PTD *\/<\/p>\n

                        \/* Private define ————————————————————*\/
                        \n\/* USER CODE BEGIN PD *\/<\/p>\n

                        \/* USER CODE END PD *\/<\/p>\n

                        \/* Private macro ————————————————————-*\/
                        \n\/* USER CODE BEGIN PM *\/<\/p>\n

                        \/* USER CODE END PM *\/<\/p>\n

                        \/* Private variables ———————————————————*\/<\/p>\n

                        \/* USER CODE BEGIN PV *\/
                        \n\/\/ \u56db\u79cd\u6ee4\u6ce2\u65b9\u6cd5\u7684\u59ff\u6001\u89d2\u7ed3\u679c
                        \nAttitude_t att_comp1; \/\/ \u4e00\u9636\u4e92\u8865
                        \nAttitude_t att_comp2; \/\/ \u4e8c\u9636\u4e92\u8865
                        \nAttitude_t att_kalman; \/\/ \u5361\u5c14\u66fc<\/p>\n

                        \/\/ \u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u5b9e\u4f8b（Pitch \u548c Roll \u5404\u4e00\u4e2a）
                        \nKalman_t kf_pitch, kf_roll;
                        \n\/\/ \u65f6\u95f4\u6b65\u957f（10ms = 100Hz）
                        \n#define DT 0.01f<\/p>\n

                        \/\/ \u9009\u62e9\u5f53\u524d\u9a8c\u8bc1\u7684\u6ee4\u6ce2\u65b9\u6cd5（\u6539\u8fd9\u4e2a\u6570\u5b57\u5207\u6362 1\/2\/3）
                        \n#define FILTER_MODE 1 \/\/ 1=\u4e00\u9636\u4e92\u8865, 2=\u4e8c\u9636\u4e92\u8865, 3=\u5361\u5c14\u66fc
                        \n\/* USER CODE END PV *\/<\/p>\n

                        \/* Private function prototypes ———————————————–*\/
                        \nvoid SystemClock_Config(void);
                        \n\/* USER CODE BEGIN PFP *\/<\/p>\n

                        \/* USER CODE END PFP *\/<\/p>\n

                        \/* Private user code ———————————————————*\/
                        \n\/* USER CODE BEGIN 0 *\/
                        \nfloat mpu_value[7]={0};
                        \n\/* USER CODE END 0 *\/<\/p>\n

                        \/**
                        \n * @brief The application entry point.
                        \n * @retval int
                        \n *\/
                        \nint main(void)
                        \n{<\/p>\n

                        \/* USER CODE BEGIN 1 *\/<\/p>\n

                        \/* USER CODE END 1 *\/<\/p>\n

                        \/* MCU Configuration——————————————————–*\/<\/p>\n

                        \/* Reset of all peripherals, Initializes the Flash interface and the Systick. *\/
                        \n HAL_Init();<\/p>\n

                        \/* USER CODE BEGIN Init *\/<\/p>\n

                        \/* USER CODE END Init *\/<\/p>\n

                        \/* Configure the system clock *\/
                        \n SystemClock_Config();<\/p>\n

                        \/* USER CODE BEGIN SysInit *\/<\/p>\n

                        \/* USER CODE END SysInit *\/<\/p>\n

                        \/* Initialize all configured peripherals *\/
                        \n MX_GPIO_Init();
                        \n MX_I2C1_Init();
                        \n MX_USART1_UART_Init();
                        \n \/* USER CODE BEGIN 2 *\/
                        \n MPU6050_Init();
                        \n \/\/ \u4fdd\u6301\u9759\u6b62\u5e73\u653e 1 \u79d2\u949f\u8fdb\u884c\u81ea\u52a8\u6821\u51c6
                        \n MPU6050_Calibrate();
                        \n \/\/ 3. \u521d\u59cb\u5316\u6240\u6709\u6ee4\u6ce2\u5668
                        \n Filter_Complementary1st_Init(&att_comp1); \/\/ \u4e00\u9636\u4e92\u8865\u6ee4\u6ce2\u5668
                        \n Filter_Complementary2nd_Init(&att_comp2); \/\/ \u4e8c\u9636\u4e92\u8865\u6ee4\u6ce2\u5668
                        \n Filter_Kalman_Init(&kf_pitch); \/\/ pitch \u5361\u5c14\u66fc\u6ee4\u6ce2\u5668
                        \n Filter_Kalman_Init(&kf_roll); \/\/ roll \u5361\u5c14\u66fc\u6ee4\u6ce2\u5668
                        \n att_kalman.pitch = 0;
                        \n att_kalman.roll = 0;
                        \n att_kalman.yaw = 0;
                        \n float accel_pitch_raw, accel_roll_raw;
                        \n \/* USER CODE END 2 *\/<\/p>\n

                        \/* Infinite loop *\/
                        \n \/* USER CODE BEGIN WHILE *\/
                        \n while (1)
                        \n {
                        \n \/\/ \u83b7\u53d6\u6821\u51c6\u540e\u7684\u6570\u636e
                        \n MPU6050_GetCalibratedData(mpu_value);
                        \n \/\/ ===== \u540c\u65f6\u8fd0\u884c\u4e09\u79cd\u8f6f\u4ef6\u6ee4\u6ce2\u7b97\u6cd5 =====
                        \n Filter_Complementary1st_Update(&att_comp1, mpu_value, DT);
                        \n Filter_Complementary2nd_Update(&att_comp2, mpu_value, DT);
                        \n Filter_Kalman_GetAttitude(&kf_pitch, &kf_roll, &att_kalman, mpu_value, DT);<\/p>\n

                        \/\/ ===== \u52a0\u901f\u5ea6\u8ba1\u76f4\u63a5\u7b97\u51fa\u7684\u539f\u59cb\u89d2\u5ea6（\u672a\u6ee4\u6ce2，\u4f5c\u4e3a\u53c2\u8003\u57fa\u51c6\u7ebf）=====
                        \n MPU6050_GetAccelAngles(mpu_value, &accel_pitch_raw, &accel_roll_raw);<\/p>\n

                        \/\/ ===== VOFA+ \u53ef\u89c6\u5316\u8f93\u51fa =====
                        \n \/\/ \u53d1\u9001 8 \u4e2a\u901a\u9053\u7684\u6570\u636e\u5230 VOFA+ \u540c\u65f6\u663e\u793a\u5bf9\u6bd4：
                        \n \/\/ CH1: \u52a0\u901f\u5ea6\u8ba1\u539f\u59cb Pitch（\u6709\u566a\u58f0，\u4f5c\u4e3a\u53c2\u8003）
                        \n \/\/ CH2: \u4e00\u9636\u4e92\u8865 Pitch
                        \n \/\/ CH3: \u4e8c\u9636\u4e92\u8865 Pitch
                        \n \/\/ CH4: \u5361\u5c14\u66fc Pitch
                        \n \/\/ CH5: \u52a0\u901f\u5ea6\u8ba1\u539f\u59cb Roll
                        \n \/\/ CH6: \u4e00\u9636\u4e92\u8865 Roll
                        \n \/\/ CH7: \u4e8c\u9636\u4e92\u8865 Roll
                        \n \/\/ CH8: \u5361\u5c14\u66fc Roll
                        \n float vofa_buf[8] = {
                        \n accel_pitch_raw, \/\/ CH1 \u539f\u59cb\u52a0\u901f\u5ea6\u8ba1 Pitch
                        \n att_comp1.pitch, \/\/ CH2 \u4e00\u9636\u4e92\u8865 Pitch
                        \n att_comp2.pitch, \/\/ CH3 \u4e8c\u9636\u4e92\u8865 Pitch
                        \n att_kalman.pitch, \/\/ CH4 \u5361\u5c14\u66fc Pitch
                        \n accel_roll_raw, \/\/ CH5 \u539f\u59cb\u52a0\u901f\u5ea6\u8ba1 Roll
                        \n att_comp1.roll, \/\/ CH6 \u4e00\u9636\u4e92\u8865 Roll
                        \n att_comp2.roll, \/\/ CH7 \u4e8c\u9636\u4e92\u8865 Roll
                        \n att_kalman.roll, \/\/ CH8 \u5361\u5c14\u66fc Roll
                        \n };<\/p>\n

                        VOFA_SendData(vofa_buf, 8);<\/p>\n

                        \/\/ ===== \u4e5f\u53ef\u4ee5\u5207\u6362\u4e3a printf \u6587\u5b57\u8f93\u51fa\u8c03\u8bd5 =====
                        \n \/\/ （\u5982\u679c\u7528 VOFA+ \u7684 FireWater \u534f\u8bae，\u53d6\u6d88\u4e0b\u9762\u6ce8\u91ca）
                        \n \/\/ debug_printf("%.2f,%.2f,%.2f,%.2f\\\\r\\\\n",
                        \n \/\/ accel_pitch_raw, att_comp1.pitch, att_comp2.pitch, att_kalman.pitch);
                        \n \/\/ debug_printf("%.2f,%.2f,%.2f,%.2f\\\\r\\\\n",accel_roll_raw,att_comp1.roll,att_comp2.roll,att_kalman.roll);<\/p>\n

                        HAL_Delay(10); \/\/ 10ms = 100Hz \u91c7\u6837\u7387，\u4e0e DT=0.01f \u5bf9\u5e94
                        \n \/* USER CODE END WHILE *\/<\/p>\n

                        \/* USER CODE BEGIN 3 *\/
                        \n }
                        \n \/* USER CODE END 3 *\/
                        \n}<\/p>\n

                        \/**
                        \n * @brief System Clock Configuration
                        \n * @retval None
                        \n *\/
                        \nvoid SystemClock_Config(void)
                        \n{
                        \n RCC_OscInitTypeDef RCC_OscInitStruct = {0};
                        \n RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};<\/p>\n

                        \/** Initializes the RCC Oscillators according to the specified parameters
                        \n * in the RCC_OscInitTypeDef structure.
                        \n *\/
                        \n RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
                        \n RCC_OscInitStruct.HSEState = RCC_HSE_ON;
                        \n RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
                        \n RCC_OscInitStruct.HSIState = RCC_HSI_ON;
                        \n RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
                        \n RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
                        \n RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
                        \n if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
                        \n {
                        \n Error_Handler();
                        \n }<\/p>\n

                        \/** Initializes the CPU, AHB and APB buses clocks
                        \n *\/
                        \n RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                        \n |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
                        \n RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
                        \n RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
                        \n RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
                        \n RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;<\/p>\n

                        if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
                        \n {
                        \n Error_Handler();
                        \n }
                        \n}<\/p>\n

                        \/* USER CODE BEGIN 4 *\/<\/p>\n

                        \/* USER CODE END 4 *\/<\/p>\n

                        \/**
                        \n * @brief This function is executed in case of error occurrence.
                        \n * @retval None
                        \n *\/
                        \nvoid Error_Handler(void)
                        \n{
                        \n \/* USER CODE BEGIN Error_Handler_Debug *\/
                        \n \/* User can add his own implementation to report the HAL error return state *\/
                        \n __disable_irq();
                        \n while (1)
                        \n {
                        \n }
                        \n \/* USER CODE END Error_Handler_Debug *\/
                        \n}
                        \n#ifdef USE_FULL_ASSERT
                        \n\/**
                        \n * @brief Reports the name of the source file and the source line number
                        \n * where the assert_param error has occurred.
                        \n * @param file: pointer to the source file name
                        \n * @param line: assert_param error line source number
                        \n * @retval None
                        \n *\/
                        \nvoid assert_failed(uint8_t *file, uint32_t line)
                        \n{
                        \n \/* USER CODE BEGIN 6 *\/
                        \n \/* User can add his own implementation to report the file name and line number,
                        \n ex: printf("Wrong parameters value: file %s on line %d\\\\r\\\\n", file, line) *\/
                        \n \/* USER CODE END 6 *\/
                        \n}
                        \n#endif \/* USE_FULL_ASSERT *\/<\/p>\n

                        \n

                        4. VOFA+ \u914d\u7f6e\u65b9\u6cd5<\/h4>\n

                        \u6b65\u9aa4 1：\u6253\u5f00 VOFA+ \u8f6f\u4ef6<\/h5>\n
                          \n
                        • \u4e0b\u8f7d\u5730\u5740：https:\/\/www.vofa.plus<\/li>\n<\/ul>\n
                          \u6b65\u9aa4 2：\u914d\u7f6e\u4e32\u53e3<\/h5>\n
                            \n
                          • \u9009\u62e9\u4f60\u7684 COM \u53e3<\/li>\n
                          • \u6ce2\u7279\u7387\u8bbe\u7f6e\u4e3a\u4f60 CubeMX \u91cc\u914d\u7f6e\u7684\u503c（\u5e38\u89c1 115200）<\/li>\n<\/ul>\n
                            \u6b65\u9aa4 3：\u9009\u62e9\u534f\u8bae<\/h5>\n
                              \n
                            • \u70b9\u51fb\u53f3\u4e0a\u89d2\u534f\u8bae\u9009\u62e9：JustFloat<\/li>\n<\/ul>\n

                              \"image-20260830150257103\"<\/p>\n

                              \u6b65\u9aa4 4：\u5f00\u59cb\u63a5\u6536<\/h5>\n
                                \n
                              • \u70b9\u51fb"\u5f00\u59cb"\u6309\u94ae，\u5c31\u80fd\u770b\u5230 8 \u6761\u66f2\u7ebf\u5b9e\u65f6\u6eda\u52a8<\/li>\n<\/ul>\n
                                \u6b65\u9aa4 5：\u901a\u9053\u547d\u540d（\u4fbf\u4e8e\u5bf9\u6bd4\u89c2\u5bdf）<\/h5>\n

                                \u5728 VOFA+ \u7684\u901a\u9053\u5217\u8868\u4e2d，\u6309\u987a\u5e8f\u91cd\u547d\u540d\u4e3a：<\/p>\n

                                \"image-20260830150312318\"<\/p>\n\n\u901a\u9053\u540d\u79f0\u542b\u4e49<\/tr>\n\n\n\n\n\n\n\n\n\n
                                CH1<\/td>\nRaw Pitch<\/td>\n\u52a0\u901f\u5ea6\u8ba1\u539f\u59cb\u89d2\u5ea6（\u6709\u6bdb\u523a\u566a\u58f0）<\/td>\n<\/tr>\n
                                CH2<\/td>\nComp1 Pitch<\/td>\n\u4e00\u9636\u4e92\u8865\u6ee4\u6ce2<\/td>\n<\/tr>\n
                                CH3<\/td>\nComp2 Pitch<\/td>\n\u4e8c\u9636\u4e92\u8865\u6ee4\u6ce2<\/td>\n<\/tr>\n
                                CH4<\/td>\nKalman Pitch<\/td>\n\u5361\u5c14\u66fc\u6ee4\u6ce2<\/td>\n<\/tr>\n
                                CH5<\/td>\nRaw Roll<\/td>\n\u52a0\u901f\u5ea6\u8ba1\u539f\u59cb Roll<\/td>\n<\/tr>\n
                                CH6<\/td>\nComp1 Roll<\/td>\n\u4e00\u9636\u4e92\u8865 Roll<\/td>\n<\/tr>\n
                                CH7<\/td>\nComp2 Roll<\/td>\n\u4e8c\u9636\u4e92\u8865 Roll<\/td>\n<\/tr>\n
                                CH8<\/td>\nKalman Roll<\/td>\n\u5361\u5c14\u66fc Roll<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                                \u6211\u5c06\u5355\u7247\u673a\u6c34\u5e73\u653e\u7f6e\u540e，\u53ef\u4ee5\u770b\u51fa：Pitch\u6ee4\u6ce2<\/p>\n

                                \"image-20260830145832229\"<\/p>\n

                                \"image-20260830150144073\"<\/p>\n

                                \n

                                5. \u56db\u79cd\u6ee4\u6ce2\u65b9\u6cd5\u5bf9\u6bd4\u603b\u7ed3<\/h4>\n

                                \u4e0d\u662f\u7edd\u5bf9\u7684，\u5728\u6211\u4eec\u7684\u573a\u666f\u4e2d，\u6bcf\u4e2ampu6050\u7684\u73af\u5883\u4ee5\u53ca\u6e29\u5ea6\u8865\u507f\u90fd\u4e0d\u4e00\u6837，\u6240\u4ee5\u4f1a\u6709\u504f\u5dee，\u4f46\u662f\u7b97\u6cd5\u6ca1\u6709\u597d\u574f，\u53ea\u6709\u9002\u5408\u3002\u8fd8\u6709\u53c2\u6570\u7684\u8c03\u8282\u597d\u574f<\/p>\n\n\u7279\u6027\u4e00\u9636\u4e92\u8865\u4e8c\u9636\u4e92\u8865\u5361\u5c14\u66fcDMP<\/tr>\n\n\n\n\n\n\n\n
                                \u590d\u6742\u5ea6<\/td>\n\u2b50<\/td>\n\u2b50\u2b50<\/td>\n\u2b50\u2b50\u2b50<\/td>\n\u2b50（\u786c\u4ef6\u81ea\u52a8）<\/td>\n<\/tr>\n
                                CPU \u5360\u7528<\/td>\n\u6781\u4f4e<\/td>\n\u4f4e<\/td>\n\u4e2d\u7b49<\/td>\n\u51e0\u4e4e\u4e3a\u96f6<\/td>\n<\/tr>\n
                                \u8c03\u53c2\u96be\u5ea6<\/td>\n\u53ea\u9700\u8c03 \u03b1<\/td>\n\u8c03 K1, K2<\/td>\n\u8c03 Q, R<\/td>\n\u65e0\u9700\u8c03\u53c2<\/td>\n<\/tr>\n
                                \u6297\u9707\u52a8<\/td>\n\u4e00\u822c<\/td>\n\u8f83\u597d<\/td>\n\u6700\u4f18<\/td>\n\u597d<\/td>\n<\/tr>\n
                                \u957f\u671f\u6f02\u79fb<\/td>\n\u5c0f<\/td>\n\u66f4\u5c0f<\/td>\n\u6700\u5c0f<\/td>\n\u65e0<\/td>\n<\/tr>\n
                                \u9002\u7528\u573a\u666f<\/td>\n\u5165\u95e8\u5b66\u4e60<\/td>\n\u5e73\u8861\u8f66<\/td>\n\u65e0\u4eba\u673a\/\u673a\u5668\u4eba<\/td>\n\u5feb\u901f\u51fa\u6210\u54c1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
                                \n

                                7. PID：\u8ba9\u59ff\u6001"\u542c\u8bdd"\u7684\u63a7\u5236\u9b54\u6cd5<\/h3>\n

                                🎯 \u4ece"\u600e\u4e48\u628a\u98de\u673a\u6446\u5e73"\u8bf4\u8d77<\/h4>\n

                                \u59ff\u6001\u89e3\u7b97\u544a\u8bc9\u6211\u4eec"\u98de\u673a\u73b0\u5728\u6b6a\u4e86\u591a\u5c11"，\u4f46\u5149\u77e5\u9053\u4e0d\u884c，\u5f97\u8ba9\u5b83\u81ea\u5df1\u6446\u6b63\u3002\u8fd9\u5c31\u662f PID \u7684\u6d3b\u3002<\/p>\n

                                PID \u662f\u4e2a"\u8d1f\u53cd\u9988\u95ed\u73af"：\u4e0d\u505c\u5730\u62ff"\u671f\u671b\u503c"\u548c"\u5f53\u524d\u503c"\u6bd4，\u7b97\u51fa\u5dee\u8ddd（\u8bef\u5dee），\u518d\u7528\u5dee\u8ddd\u53bb\u6307\u6325\u7535\u673a：<\/p>\n

                                \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

                                \u25b2 \u56fe 5 \u00b7 PID \u8d1f\u53cd\u9988\u95ed\u73af：\u671f\u671b\u503c \u2212 \u6d4b\u91cf\u503c = \u8bef\u5dee \u2192 PID \u2192 \u88ab\u63a7\u5bf9\u8c61 \u2192 \u8f93\u51fa，\u8f93\u51fa\u518d\u53cd\u9988\u56de\u6765\u6bd4\u8f83<\/p>\n

                                \u671f\u671b\u89d2\u5ea6 \u2500\u2500\u2192 [\u8bef\u5deee] \u2500\u2500\u2192 [PID\u63a7\u5236\u5668] \u2500\u2500\u2192 [\u7535\u673a\/\u673a\u4f53] \u2500\u2500\u2192 \u8f93\u51fa
                                \n \u25b2 \u2502
                                \n \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 \u8d1f\u53cd\u9988 \u25c0\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518
                                \n (\u59ff\u6001\u89e3\u7b97\u6d4b\u51fa\u5f53\u524d\u89d2\u5ea6)<\/p>\n

                                🎭 \u4e09\u4e2a\u5b57\u6bcd\u5404\u662f\u4ec0\u4e48\u813e\u6c14？<\/h4>\n
                                  \n
                                • P（\u6bd4\u4f8b）：\u8bef\u5dee\u8d8a\u5927\u63a8\u5f97\u8d8a\u731b，\u53cd\u5e94\u5feb\u3002\u4f46\u5149\u9760 P \u6d88\u9664\u4e0d\u4e86\u6700\u540e\u90a3\u4e00\u70b9"\u7a33\u6001\u8bef\u5dee"，\u800c\u4e14 P \u592a\u5927\u5bb9\u6613"\u6296\u5f97\u50cf\u7b5b\u7ce0"\u3002<\/li>\n
                                • I（\u79ef\u5206）：\u628a\u8bef\u5dee\u6512\u8d77\u6765，\u4e13\u95e8\u6d88\u706d\u90a3\u70b9"\u6b7b\u6d3b\u6d88\u4e0d\u6389"\u7684\u7a33\u6001\u504f\u5dee（\u6bd4\u5982\u98de\u673a\u8001\u5f80\u4e00\u8fb9\u6b6a，\u9760 I \u4e00\u76f4\u7ed9\u4e2a\u8865\u507f\u529b）\u3002<\/li>\n
                                • D（\u5fae\u5206）：\u770b\u8bef\u5dee\u53d8\u5316\u5f97\u591a\u5feb，\u6709"\u9884\u89c1\u6027"，\u80fd\u5239\u8f66\u2014\u2014\u6291\u5236\u8d85\u8c03\u3001\u8ba9\u7cfb\u7edf\u66f4\u5feb\u7a33\u4e0b\u6765（\u5c31\u50cf\u5f00\u8f66\u5feb\u649e\u4e0a\u524d\u63d0\u524d\u677e\u6cb9\u95e8）\u3002<\/li>\n<\/ul>\n

                                  u(t) = Kp\u00b7e(t) + Ki\u00b7\u222be(t)dt + Kd\u00b7(de(t)\/dt)
                                  \n \u6bd4\u4f8b \u79ef\u5206\u7d2f\u8ba1 \u53d8\u5316\u7387<\/p>\n

                                  🧱 \u4f4d\u7f6e\u5f0f vs \u589e\u91cf\u5f0f<\/h4>\n

                                  \/\/ \u4f4d\u7f6e\u5f0f PID：\u4e00\u6b21\u76f4\u63a5\u8f93\u51fa\u4e00\u4e2a"\u7edd\u5bf9\u63a7\u5236\u91cf"<\/span>
                                  \nout =<\/span> Kp*<\/span>err +<\/span> Ki*<\/span>errSum +<\/span> Kd*<\/span>(<\/span>err –<\/span> lastErr)<\/span>;<\/span><\/p>\n

                                  \/\/ \u589e\u91cf\u5f0f PID：\u8f93\u51fa"\u53d8\u5316\u91cf"，\u518d\u7d2f\u52a0（\u5929\u7136\u5e26\u79ef\u5206\u6548\u679c\u3001\u66f4\u5b89\u5168）<\/span>
                                  \ndOut =<\/span> Kp*<\/span>(<\/span>err –<\/span> lastErr)<\/span>+<\/span> Ki*<\/span>err+<\/span> Kd*<\/span>(<\/span>err –<\/span> 2<\/span>*<\/span>lastErr +<\/span> lastLastErr)<\/span>;<\/span>
                                  \nout +=<\/span> dOut;<\/span><\/p>\n\n\u7279\u6027\u4f4d\u7f6e\u5f0f PID\u589e\u91cf\u5f0f PID<\/tr>\n\n\n\n\n\n\n\n
                                  \u8f93\u51fa\u542b\u4e49<\/td>\n\u6700\u7ec8\u7edd\u5bf9\u63a7\u5236\u91cf<\/td>\n\u672c\u6b21\u8f93\u51fa\u53d8\u5316\u91cf \u0394out<\/td>\n<\/tr>\n
                                  \u79ef\u5206\u5b58\u50a8<\/td>\n\u4fdd\u5b58\u5168\u90e8\u5386\u53f2\u8bef\u5dee\u603b\u548c errSum<\/td>\n\u4ec5\u4fdd\u5b58\u6700\u8fd1 3 \u6b21\u8bef\u5dee，\u65e0\u603b\u7d2f\u52a0<\/td>\n<\/tr>\n
                                  \u79ef\u5206\u9971\u548c\u98ce\u9669<\/td>\n\u9ad8<\/td>\n\u4f4e<\/td>\n<\/tr>\n
                                  \u6545\u969c\u51b2\u51fb<\/td>\n\u5927，\u5f02\u5e38\u65f6\u8f93\u51fa\u76f4\u63a5\u8df3\u53d8<\/td>\n\u5c0f，\u53ea\u4f1a\u5c0f\u5e45\u6539\u52a8<\/td>\n<\/tr>\n
                                  \u53d8\u91cf\u6570\u91cf<\/td>\n\u5c11<\/td>\n\u7565\u591a<\/td>\n<\/tr>\n
                                  \u5178\u578b\u7528\u9014<\/td>\n\u6e29\u63a7\u3001\u9600\u95e8\u3001\u5b9a\u503c\u63a7\u5236<\/td>\n\u7535\u673a\u3001\u5c0f\u8f66\u3001\u65e0\u4eba\u673a\u8fd0\u52a8\u63a7\u5236<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                                  🥪 \u98de\u63a7\u7528\u7684\u662f"\u4e32\u7ea7 PID"（\u53cc\u5c42\u5d4c\u5957\u7684\u4e09\u660e\u6cbb）<\/h4>\n

                                  \u4e00\u4e2a PID \u76f4\u63a5\u63a7\u89d2\u5ea6\u901a\u5e38\u4e0d\u591f\u7a33\u3002\u56db\u8f74\u98de\u63a7\u666e\u904d\u7528\u4e32\u7ea7 PID：<\/p>\n

                                  \u671f\u671b\u89d2\u5ea6 \u2500\u25b6 [\u5916\u73af\u00b7\u89d2\u5ea6PID] \u2192 \u671f\u671b\u89d2\u901f\u5ea6 \u2500\u25b6 [\u5185\u73af\u00b7\u89d2\u901f\u5ea6PID] \u2192 \u7535\u673a\u63a7\u5236\u91cf
                                  \n \u25b2 \u25b2
                                  \n \u59ff\u6001\u89e3\u7b97\u89d2\u5ea6 \u9640\u87ba\u4eea\u5b9e\u6d4b\u89d2\u901f\u5ea6<\/p>\n

                                    \n
                                  • \u5916\u73af（\u89d2\u5ea6\u73af）：\u7ba1"\u7a33"，\u8f93\u5165\u89d2\u5ea6\u8bef\u5dee，\u9700\u8981\u4ece\u52a0\u901f\u5ea6\u8ba1\u79ef\u5206\u51fa\u6765，\u6bd4\u8f83\u6162，\u8f93\u51fa"\u671f\u671b\u89d2\u901f\u5ea6"\u3002<\/li>\n
                                  • \u5185\u73af（\u89d2\u901f\u5ea6\u73af）：\u7ba1"\u5feb"，\u8f93\u5165\u89d2\u901f\u5ea6\u8bef\u5dee（\u9640\u87ba\u4eea\u76f4\u63a5\u7ed9），\u8f93\u51fa\u7535\u673a\u91cf\u3002<\/li>\n
                                  • \u5185\u73af\u5feb\u3001\u5916\u73af\u7a33，\u5957\u5728\u4e00\u8d77\u5c31\u53c8\u5feb\u53c8\u7a33\u3002<\/li>\n<\/ul>\n

                                    🔧 \u6574\u5b9a\u53e3\u8bc0：\u5148\u5185\u73af，\u540e\u5916\u73af\u3002 \u2460 \u5185\u73af\u53ea\u52a0 P \u2192 \u52a0\u5230\u51fa\u73b0\u9ad8\u9891\u6296\u52a8\u518d\u9000\u4e00\u70b9；\u2461 \u52a0 D \u6291\u5236\u8d85\u8c03；\u2462 \u5185\u73af\u7a33\u4e86\u518d\u52a0\u5916\u73af P；\u2463 \u6700\u540e\u52a0 I \u6d88\u7a33\u6001\u8bef\u5dee\u3002\u6bcf\u6b21\u53ea\u6539\u4e00\u4e2a\u53c2\u6570，\u7528\u4e32\u53e3\u753b\u6ce2\u5f62\u5224\u65ad\u3002<\/p>\n

                                    \n

                                    8. \u7535\u673a\u8f93\u51fa：PID \u7b97\u51fa\u7684\u6570\u600e\u4e48\u53d8\u6210"\u8f6c\u591a\u5feb"<\/h3>\n

                                    📶 PWM：\u9760"\u5360\u7a7a\u6bd4"\u8bf4\u8bdd<\/h4>\n

                                    \u56db\u8f74\u7535\u673a（\u65e0\u5237\u7535\u673a + \u7535\u8c03 ESC）\u9760 PWM \u4fe1\u53f7\u8c03\u901f\u3002PWM \u5c31\u50cf\u7528"\u624b\u7535\u7b52\u5feb\u901f\u95ea\u706f"：\u9ad8\u7535\u5e73\u5360\u7684\u6bd4\u4f8b（\u5360\u7a7a\u6bd4）\u8d8a\u5927，\u7535\u673a\u8f6c\u5f97\u8d8a\u5feb\u3002<\/p>\n

                                    \u4f4e\u901f (\u5360\u7a7a\u6bd425%) \u2588\u2588\u2591\u2591\u2591\u2591\u2591\u2591\u2588\u2588\u2591\u2591\u2591\u2591\u2591\u2591 \u9ad8\u7535\u5e73\u77ed \u2192 \u8f6c\u901f\u4f4e
                                    \n\u9ad8\u901f (\u5360\u7a7a\u6bd475%) \u2588\u2588\u2588\u2588\u2588\u2588\u2591\u2591\u2588\u2588\u2588\u2588\u2588\u2588\u2591\u2591 \u9ad8\u7535\u5e73\u957f \u2192 \u8f6c\u901f\u9ad8<\/p>\n

                                      \n
                                    • \u5e38\u89c1\u7535\u8c03"\u6cb9\u95e8\u8109\u5bbd"\u8303\u56f4：1000~2000 \u03bcs\u3002<\/li>\n
                                    • STM32 \u7528\u5b9a\u65f6\u5668\u8f93\u51fa PWM \u5373\u53ef，\u5360\u7a7a\u6bd4\u5c31\u662f"\u63a7\u5236\u91cf \/ \u6ee1\u91cf\u7a0b"\u3002<\/li>\n<\/ul>\n

                                      🔀 \u52a8\u529b\u5206\u914d（Mixer）：\u4e00\u4e2a\u63a7\u5236\u91cf\u600e\u4e48\u5206\u7ed9 4 \u4e2a\u7535\u673a？<\/h4>\n

                                      PID \u7b97\u51fa\u6765\u7684\u662f"\u4fee\u6b63\u91cf"，\u5f97\u53e0\u52a0\u5230 4 \u4e2a\u7535\u673a\u4e0a\u3002\u4ee5 X \u578b\u673a\u67b6\u4e3a\u4f8b（\u7b26\u53f7\u53d6\u51b3\u4e8e\u673a\u67b6\u548c\u8f6c\u5411\u7ea6\u5b9a）：<\/p>\n

                                      \/\/ thr=\u57fa\u7840\u6cb9\u95e8；roll\/pitch\/yaw = \u4e09\u4e2a\u59ff\u6001\u73af\u7684\u8f93\u51fa<\/span>
                                      \nM1 =<\/span> thr +<\/span> pidRoll.<\/span>out +<\/span> pidPitch.<\/span>out +<\/span> pidYaw.<\/span>out;<\/span>
                                      \nM2 =<\/span> thr –<\/span> pidRoll.<\/span>out +<\/span> pidPitch.<\/span>out –<\/span> pidYaw.<\/span>out;<\/span>
                                      \nM3 =<\/span> thr –<\/span> pidRoll.<\/span>out –<\/span> pidPitch.<\/span>out +<\/span> pidYaw.<\/span>out;<\/span>
                                      \nM4 =<\/span> thr +<\/span> pidRoll.<\/span>out –<\/span> pidPitch.<\/span>out –<\/span> pidYaw.<\/span>out;<\/span>
                                      \n\/\/ \u6700\u540e\u9650\u5e45\u5230 [\u6cb9\u95e8\u4e0b\u9650, \u4e0a\u9650]，\u9632\u6b62\u67d0\u8def\u8d8a\u754c<\/span><\/p>\n

                                      🔄 \u4e3a\u4ec0\u4e48\u76f8\u90bb\u7535\u673a\u8981\u53cd\u7740\u8f6c？<\/h4>\n

                                      \u5148\u770b\u771f\u5b9e\u56db\u8f74\u7684\u673a\u67b6\u5e03\u5c40（X \u578b），4 \u4e2a\u7535\u673a\u5206\u5e03\u5728\u56db\u89d2：<\/p>\n

                                      \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

                                      \u25b2 \u56fe 6 \u00b7 X \u578b\u56db\u8f74\u673a\u67b6\u5e03\u5c40\u793a\u610f：\u76f8\u90bb\u7535\u673a\u53cd\u65b9\u5411\u65cb\u8f6c，\u5bf9\u89d2\u7535\u673a\u540c\u5411，\u7528\u4e8e\u62b5\u6d88\u53cd\u626d\u77e9<\/p>\n

                                      M1(\u987a) M3(\u9006)
                                      \n \\\\ \/
                                      \n \u98de\u63a7\/IMU
                                      \n \/ \\\\
                                      \n M2(\u9006) M4(\u987a)<\/p>\n

                                      \u56e0\u4e3a\u8981\u8ba9 4 \u4e2a\u7535\u673a\u7684"\u53cd\u626d\u77e9"\u4e92\u76f8\u62b5\u6d88，\u98de\u673a\u624d\u4e0d\u4f1a\u81ea\u5df1\u539f\u5730\u6253\u8f6c\u3002\u6240\u8c13"\u504f\u822a"\u63a7\u5236，\u6b63\u662f\u9760"\u6545\u610f\u6253\u7834\u8fd9\u79cd\u5e73\u8861"\u2014\u2014\u8ba9\u5bf9\u89d2\u7535\u673a\u4e00\u589e\u4e00\u51cf，\u98de\u673a\u5c31\u8f6c\u8d77\u6765\u4e86\u3002<\/p>\n

                                      \n

                                      9. \u5149\u6d41\u4f20\u611f\u5668：\u5ba4\u5185\u6ca1 GPS \u65f6\u9760"\u770b\u56fe"\u5b9a\u4f4d<\/h3>\n

                                      🖱\ufe0f \u5b83\u5176\u5b9e\u5c31\u662f\u4e2a"\u5012\u7740\u653e\u7684\u5149\u5b66\u9f20\u6807"<\/h4>\n

                                      GPS \u5728\u5ba4\u5185\u6ca1\u4fe1\u53f7，\u90a3\u600e\u4e48\u77e5\u9053\u98de\u673a\u6709\u6ca1\u6709\u6c34\u5e73\u6f02\u79fb？\u7b54\u6848：\u5149\u6d41\u4f20\u611f\u5668\u3002<\/p>\n

                                      \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

                                      \u25b2 \u56fe 7 \u00b7 PMW3901 \u5149\u6d41\u4f20\u611f\u5668\u6a21\u5757（\u5e38\u642d\u914d\u6fc0\u5149\u6d4b\u8ddd VL53L1X \u4e00\u8d77\u7528），\u9762\u5411\u5730\u9762\u5b89\u88c5，\u539f\u7406\u7c7b\u4f3c\u5149\u5b66\u9f20\u6807<\/p>\n

                                      \u5149\u6d41\u4f20\u611f\u5668 = \u671d\u4e0b\u7684\u5fae\u578b\u6444\u50cf\u5934 + \u56fe\u50cf\u534f\u5904\u7406\u5668，\u539f\u7406\u8ddf\u5149\u5b66\u9f20\u6807\u4e00\u6a21\u4e00\u6837：<\/p>\n

                                      \u5149\u6d41\u4f20\u611f\u5668(\u671d\u4e0b) \u2500\u2500\u25b6 \u8fde\u7eed\u62cd\u5730\u9762 \u2500\u2500\u25b6 \u6bd4\u8f83\u76f8\u90bb\u4e24\u5e27\u7684"\u82b1\u7eb9\u4f4d\u7f6e"
                                      \n \u2502
                                      \n \u25bc
                                      \n \u50cf\u7d20\u4f4d\u79fb \u0394x, \u0394y（\u82b1\u7eb9\u52a8\u4e86\u51e0\u683c）<\/p>\n

                                      📐 \u50cf\u7d20\u4f4d\u79fb\u600e\u4e48\u53d8\u6210"\u901f\u5ea6"？<\/h4>\n

                                      \u5173\u952e\u516c\u5f0f（\u4e00\u5b9a\u8981\u7406\u89e3）：<\/p>\n

                                      \u7ebf\u901f\u5ea6 \u2248 \u50cf\u7d20\u4f4d\u79fb \u00d7 \u5bf9\u5730\u9ad8\u5ea6 \u00d7 \u6bd4\u4f8b\u56e0\u5b50 \u00f7 \u5e27\u95f4\u9694<\/p>\n

                                      \u4e3a\u4ec0\u4e48\u8981\u6709\u9ad8\u5ea6？ \u56e0\u4e3a\u5149\u6d41\u6d4b\u7684\u5176\u5b9e\u662f"\u89d2\u53d8\u5316"\u3002\u540c\u6837\u4e00\u4e2a\u50cf\u7d20\u4f4d\u79fb，\u98de\u673a\u98de\u5f97\u8d8a\u9ad8，\u5b9e\u9645\u79fb\u52a8\u5f97\u8d8a\u8fdc\u3002\u6240\u4ee5\u5149\u6d41\u6a21\u5757\u51e0\u4e4e\u90fd\u8981\u642d\u914d\u6d4b\u8ddd\u4f20\u611f\u5668（TOF\/\u6fc0\u5149），\u5426\u5219\u6d4b\u51fa\u7684\u901f\u5ea6\u4f1a\u6709"\u9ad8\u5ea6\u8bef\u5dee\u88ab\u653e\u5927"\u7684\u95ee\u9898\u3002<\/p>\n

                                      🤝 \u4e3a\u4ec0\u4e48\u8fd8\u8981\u878d\u5408 IMU（\u9640\u87ba\u4eea）？<\/h4>\n

                                      \u5355\u770b\u5149\u6d41，\u6570\u636e\u5f88"\u6296"，\u800c\u4e14\u6709\u4e2a\u5927\u9ebb\u70e6：\u98de\u673a\u6643\u52a8\/\u503e\u659c\u65f6，\u5730\u9762\u753b\u9762\u4e5f\u4f1a"\u5047\u52a8"（\u673a\u4f53\u539f\u5730\u6446，\u5730\u9762\u660e\u660e\u6ca1\u52a8，\u56fe\u50cf\u5374\u53d8\u4e86）\u3002<\/p>\n

                                      \u6240\u4ee5\u6807\u51c6\u505a\u6cd5\u662f\u628a\u4e09\u8005\u878d\u5408（\u4e92\u8865\u6ee4\u6ce2\u6216 EKF）：<\/p>\n

                                      \u5149\u6d41 \u0394x,\u0394y \u2500\u2500\u2510
                                      \n\u6d4b\u8ddd \u9ad8\u5ea6 h \u2500\u2500\u253c\u2500\u2500\u25b6 [\u878d\u5408: \u62b5\u6d88\u6643\u52a8 + \u5c3a\u5ea6\u6362\u7b97] \u2500\u2500\u25b6 \u6c34\u5e73\u901f\u5ea6 vx,vy \u2500\u2500\u25b6 [\u4f4d\u7f6e\u73afPID] \u2500\u2500\u25b6 \u5b9a\u70b9\u60ac\u505c
                                      \nIMU \u89d2\u901f\u5ea6 \u2500\u2500\u2518<\/p>\n

                                        \n
                                      • \u7528\u9640\u87ba\u4eea\u89d2\u901f\u5ea6\u62b5\u6d88\u673a\u8eab\u6643\u52a8\u5e26\u6765\u7684\u865a\u5047\u5149\u6d41；<\/li>\n
                                      • \u7528\u9ad8\u5ea6\u628a\u50cf\u7d20\u6362\u7b97\u6210\u771f\u5b9e\u901f\u5ea6；<\/li>\n
                                      • \u5f97\u5230\u7a33\u5b9a\u7684\u6c34\u5e73\u901f\u5ea6\/\u4f4d\u7f6e\u540e，\u5582\u7ed9\u4f4d\u7f6e\u73af PID，\u5b9e\u73b0\u5ba4\u5185"\u5b9a\u70b9\u60ac\u505c"\u3002<\/li>\n<\/ul>\n

                                        📊 \u4e3b\u6d41\u5149\u6d41\u4f20\u611f\u5668\u5bf9\u6bd4（\u636e PX4 \u6587\u6863）<\/h4>\n\n\u4f20\u611f\u5668\u5206\u8fa8\u7387\u5e27\u7387\u6709\u6548\u9ad8\u5ea6\u63a5\u53e3\u7279\u70b9<\/tr>\n\n\n\n\n
                                        PMW3901<\/td>\n30\u00d730<\/td>\n~10000fps<\/td>\n80mm~\u221e<\/td>\nSPI\/UART<\/td>\n\u4f4e\u529f\u8017\u3001\u6700\u6d41\u884c，DJI Tello \u540c\u7cfb<\/td>\n<\/tr>\n
                                        ADNS-9800<\/td>\n30\u00d730<\/td>\n~6400fps<\/td>\n2~30mm<\/td>\nSPI<\/td>\n\u4f4e\u7a7a\u8fd1\u8ddd\u79bb<\/td>\n<\/tr>\n
                                        OV7725+MCU<\/td>\n640\u00d7480<\/td>\n~500fps<\/td>\n10cm~5m<\/td>\nSPI\/I2C<\/td>\n\u9ad8\u5ea6\u8303\u56f4\u5927\u3001\u9700\u8ba1\u7b97<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
                                        \n

                                        10. \u98de\u63a7\u5168\u8c8c：\u628a\u524d\u9762\u4e32\u6210\u4e00\u6761\u5b8c\u6574\u95ed\u73af<\/h3>\n

                                        \u628a 1~9 \u7ae0\u4e32\u8d77\u6765，\u5c31\u662f\u4e00\u6761\u5b8c\u6574\u7684\u98de\u63a7\u6570\u636e\u94fe\u8def：<\/p>\n

                                        \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510 \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510 \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510 \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510
                                        \n\u2502 MPU6050 \u2502 \u2502 \u59ff\u6001\u89e3\u7b97\u00b7\u6ee4\u6ce2 \u2502 \u2502 \u4e32\u7ea7PID \u2502 \u2502 \u52a8\u529b\u5206\u914d \u2502
                                        \n\u2502 (\u52a0\u901f\u5ea6+\u9640\u87ba)\u2502\u2500\u2500\u25b6\u2502 Mahony\/DMP\/\u5361\u5c14\u66fc \u2502\u2500\u2500\u25b6\u2502 \u89d2\u5ea6\u73af+\u89d2\u901f\u5ea6\u73af+\u4f4d\u7f6e\u73af\u2502\u2500\u2500\u25b6\u2502 Mixer\u21924\u8defPWM\u2502
                                        \n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518
                                        \n\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510 \u25b2 \u2502 \u2502
                                        \n\u2502 \u5149\u6d41+\u6d4b\u8ddd \u2502\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 \u25bc \u25bc
                                        \n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 \u673a\u4f53\u59ff\u6001\/\u4f4d\u7f6e\/\u901f\u5ea6 \u25c0\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 4\u4e2a\u7535\u673a
                                        \n \u2502 \u2502
                                        \n \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 \u53cd\u9988\u56de\u4f20\u611f\u5668 \u25c0\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<\/p>\n

                                        \u95ed\u73af\u4e00\u53e5\u8bdd：\u4f20\u611f\u5668\u611f\u53d7\u72b6\u6001 \u2192 \u89e3\u7b97\/\u6ee4\u6ce2\u7b97\u51fa\u59ff\u6001 \u2192 \u4e32\u7ea7 PID \u51b3\u5b9a\u600e\u4e48\u4fee\u6b63 \u2192 \u52a8\u529b\u5206\u914d\u628a\u4fee\u6b63\u91cf\u5206\u7ed9 4 \u4e2a\u7535\u673a \u2192 \u7535\u673a\u6539\u53d8\u673a\u4f53 \u2192 \u4f20\u611f\u5668\u518d\u611f\u53d7\u65b0\u72b6\u6001\u2026\u2026\u5982\u6b64\u5faa\u73af，\u98de\u673a\u624d\u7a33\u5f97\u4f4f\u3002<\/p>\n

                                        \n

                                        11. \u65b0\u624b\u5b66\u4e60\u8def\u7ebf & \u53c2\u8003\u8d44\u6e90<\/h3>\n

                                        🗺\ufe0f \u7531\u6d45\u5165\u6df1\u7684\u5b66\u4e60\u987a\u5e8f<\/h4>\n
                                      • \u5148\u70b9\u4eae MPU6050：I2C \u8bfb\u51fa\u539f\u59cb\u6570\u636e，\u4e32\u53e3\u6253\u5370，\u786e\u8ba4\u901a\u4fe1 OK（\u7b2c 2 \u7ae0）\u3002<\/li>\n
                                      • \u6807\u5b9a + \u6362\u7b97：\u505a\u96f6\u504f\u6821\u51c6，\u628a\u6570\u636e\u53d8\u6210 g \u548c \u00b0\/s（\u7b2c 3 \u7ae0）\u3002<\/li>\n
                                      • \u5148\u7b97\u5355\u8f74\u89d2\u5ea6：\u52a0\u901f\u5ea6\u7b97\u89d2\u5ea6\u3001\u9640\u87ba\u4eea\u79ef\u5206，\u505a\u4e00\u9636\u4e92\u8865\/\u5361\u5c14\u66fc，\u5148\u51fa Pitch \u6216 Roll（\u7b2c 5\u30016 \u7ae0）\u3002<\/li>\n
                                      • \u4e0a\u56db\u5143\u6570\u89e3\u7b97：\u8dd1\u901a Mahony，\u6216\u76f4\u63a5 DMP，\u62ff\u5230\u5b8c\u6574 Pitch\/Roll\/Yaw（\u7b2c 4\u30016 \u7ae0）\u3002<\/li>\n
                                      • \u4e0a PID：\u5148\u5355\u73af\u8c03\u7a33\u4e00\u4e2a\u89d2\u5ea6，\u518d\u5347\u7ea7\u4e32\u7ea7 PID（\u7b2c 7 \u7ae0）\u3002<\/li>\n
                                      • \u63a5\u7535\u673a：PWM \u9a71\u52a8\u7535\u8c03，\u7406\u89e3 Mixer \u548c\u7535\u673a\u8f6c\u5411（\u7b2c 8 \u7ae0）\u3002<\/li>\n
                                      • \u52a0\u5149\u6d41：\u8bfb\u50cf\u7d20\u4f4d\u79fb，\u4e0e IMU \u878d\u5408\u51fa\u901f\u5ea6\/\u4f4d\u7f6e，\u5ba4\u5185\u5b9a\u70b9\u60ac\u505c（\u7b2c 9 \u7ae0）\u3002<\/li>\n

                                        📚 \u53c2\u8003\u7684\u4f18\u79c0\u7f51\u4e0a\u6559\u7a0b<\/h4>\n
                                      • STM32Cube HAL \u5e93 MPU6050 DMP \u59ff\u6001\u89e3\u7b97（CSDN）\u2014 \u5bc4\u5b58\u5668\u8bfb\u53d6\u4e0e DMP \u79fb\u690d https:\/\/blog.csdn.net\/weixin_52916289\/article\/details\/135142374<\/li>\n
                                      • STM32 \u9a71\u52a8 MPU6050 \u53ca\u56db\u5143\u6570\u59ff\u6001\u89e3\u7b97（Zeeklog）\u2014 \u9a71\u52a8\u4e0e\u8bfb\u53d6\u4ee3\u7801 https:\/\/zeeklog.com\/stm32-wan-zhuan-iiczhi-qu-dong-mpu6050ji-zi-tai-jie-suan<\/li>\n
                                      • MPU6050 \u59ff\u6001\u89e3\u7b97\u2014\u2014Mahony \u4e92\u8865\u6ee4\u6ce2（CSDN）\u2014 \u7b97\u6cd5\u539f\u7406\u63a8\u5bfc https:\/\/blog.csdn.net\/lqj11\/article\/details\/107423334<\/li>\n
                                      • MPU6050 \u6ee4\u6ce2\u3001\u59ff\u6001\u878d\u5408（\u4e00\u9636\u4e92\u8865\u3001\u5361\u5c14\u66fc）（\u535a\u5ba2\u56ed）\u2014 \u5355\u8f74\u6ee4\u6ce2\u4ee3\u7801 https:\/\/www.cnblogs.com\/qsyll0916\/p\/8030379.html<\/li>\n
                                      • \u8c08\u8c08 MPU6050 \u7684\u6570\u636e\u878d\u5408：\u4e00\u9636\u6ee4\u6ce2\u4e0e\u5361\u5c14\u66fc\u6ee4\u6ce2（CSDN）\u2014 \u4e09\u79cd\u878d\u5408\u5bf9\u6bd4 https:\/\/blog.csdn.net\/zsn15702422216\/article\/details\/52223799<\/li>\n
                                      • STM32 MPU6050 \u59ff\u6001\u89e3\u7b97 Mahony \u4e92\u8865\u6ee4\u6ce2\u7b97\u6cd5（CSDN）\u2014 C \u8bed\u8a00\u5b9e\u73b0 https:\/\/blog.csdn.net\/weixin_44821644\/article\/details\/116893943<\/li>\n
                                      • \u65e0\u4eba\u673a\u7b97\u6cd5\u4e4b PID（CSDN）\u2014 \u5355\u7ea7\/\u4e32\u7ea7 PID \u4e0e\u8c03\u8bd5 https:\/\/blog.csdn.net\/u012320127\/article\/details\/104579607<\/li>\n
                                      • \u56db\u8f74\u65e0\u4eba\u673a\u98de\u884c\u63a7\u5236\u539f\u7406（PID）（CSDN）\u2014 \u7535\u673a PWM \u4e0e\u52a8\u529b\u5206\u914d https:\/\/blog.csdn.net\/weixin_46697509\/article\/details\/133017111<\/li>\n
                                      • \u56db\u8f74 PID \u63a7\u5236\u7b97\u6cd5\u8be6\u89e3（\u5355\u73af PID\u3001\u4e32\u7ea7 PID）（CSDN）\u2014 \u53c2\u6570\u6574\u5b9a https:\/\/blog.csdn.net\/lovely_yoshino\/article\/details\/92789955<\/li>\n
                                      • PX4 \u5b98\u65b9\u6587\u6863：PMW3901 \u5149\u6d41\u4f20\u611f\u5668 \u2014 \u539f\u7406\u3001\u53c2\u6570\u4e0e\u63a5\u7ebf https:\/\/docs.px4.io\/main\/zh\/sensor\/pmw3901<\/li>\n
                                      • PX4 \u5149\u6d41\u6280\u672f\u5b9e\u6218\u6559\u5b66（openvela\/CSDN）\u2014 \u5149\u6d41\u4e0e IMU\/EKF \u878d\u5408 https:\/\/openvela.csdn.net\/694b91185b9f5f31781a3769.html<\/li>\n
                                      • \u65e0\u4eba\u673a\u5149\u6d41\u6a21\u5757 Optical Flow \u8bbe\u7f6e（CSDN）\u2014 PMW3901 \u914d\u7f6e https:\/\/blog.csdn.net\/weixin_60324241\/article\/details\/147270687<\/li>\n
                                        \n

                                        \u26a0\ufe0f \u5b89\u5168\u63d0\u9192：\u6d89\u53ca\u98de\u884c\u5668\u7684\u5b9e\u9a8c，\u8bf7\u5728\u5408\u89c4\u573a\u5730\u3001\u786e\u4fdd\u5b89\u5168\u7684\u524d\u63d0\u4e0b\u8fdb\u884c，\u5e76\u9075\u5b88\u5f53\u5730\u65e0\u4eba\u673a\u6cd5\u89c4\u3002\u6559\u7a0b\u4e2d\u7684\u4ee3\u7801\u4e0e\u539f\u7406\u56fe\u4e3a\u6559\u5b66\u793a\u610f，\u6b63\u5f0f\u9879\u76ee\u8bf7\u4ee5\u82af\u7247\u5b98\u65b9\u6570\u636e\u624b\u518c（MPU6050 \/ PMW3901 \/ STM32 \u53c2\u8003\u624b\u518c）\u4e3a\u51c6\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

                                        🚁 STM32 MPU6050 \u4ece\u96f6\u5230\u56db\u8f74：\u4e00\u5957\u8ba9\u4f60\u771f\u7684\\”\u770b\u61c2\\”\u98de\u63a7\u7684\u6559\u7a0b \u4e00\u53e5\u8bdd\u8bf4\u6e05\u8fd9\u7bc7\u6559\u7a0b\u5728\u5e72\u561b：\u6211\u4eec\u7528\u4e00\u5757 STM32\u3001\u4e00\u4e2a MPU6050（\u5c0f\u9640\u87ba\u5c0f\u52a0\u901f\u5ea6\u8ba1），\u4e00\u6b65\u6b65\u505a\u51fa\u4e00\u4e2a\\”\u77e5\u9053\u81ea\u5df1\u5728\u54ea\u3001\u600e\u4e48\u4fdd\u6301\u5e73\u8861\u3001\u600e\u4e48\u98de\u7a33\\”\u7684\u56db\u8f74\u98de\u63a7\u6838\u5fc3\u3002\u4ece\u8bfb\u53d6\u4f20\u611f\u5668\u539f\u59cb\u6570\u636e，\u5230\u7b97\u51fa\u59ff\u6001\u89d2，\u5230\u7528 PID \u53bb\u63a7\u5236\u7535\u673a，\u518d\u5230\u7528\u5149\u6d41\u4f20\u611f\u5668\u5b9e\u73b0\u5ba4\u5185\u5b9a\u70b9\u2014\u2014\u6bcf\u4e00\u6b65\u90fd\u8bb2\u6e05\u695a\\”\u4e3a<\/p>\n","protected":false},"author":2,"featured_media":100851,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[217,270,269],"topic":[],"class_list":["post-100863","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-stm32","tag-270","tag-269"],"yoast_head":"\nstm32_mpu6050_\u6ee4\u6ce2\u6559\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/100863.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"stm32_mpu6050_\u6ee4\u6ce2\u6559\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"🚁 STM32 MPU6050 \u4ece\u96f6\u5230\u56db\u8f74：\u4e00\u5957\u8ba9\u4f60\u771f\u7684"\u770b\u61c2"\u98de\u63a7\u7684\u6559\u7a0b \u4e00\u53e5\u8bdd\u8bf4\u6e05\u8fd9\u7bc7\u6559\u7a0b\u5728\u5e72\u561b：\u6211\u4eec\u7528\u4e00\u5757 STM32\u3001\u4e00\u4e2a MPU6050（\u5c0f\u9640\u87ba\u5c0f\u52a0\u901f\u5ea6\u8ba1），\u4e00\u6b65\u6b65\u505a\u51fa\u4e00\u4e2a"\u77e5\u9053\u81ea\u5df1\u5728\u54ea\u3001\u600e\u4e48\u4fdd\u6301\u5e73\u8861\u3001\u600e\u4e48\u98de\u7a33"\u7684\u56db\u8f74\u98de\u63a7\u6838\u5fc3\u3002\u4ece\u8bfb\u53d6\u4f20\u611f\u5668\u539f\u59cb\u6570\u636e，\u5230\u7b97\u51fa\u59ff\u6001\u89d2，\u5230\u7528 PID \u53bb\u63a7\u5236\u7535\u673a，\u518d\u5230\u7528\u5149\u6d41\u4f20\u611f\u5668\u5b9e\u73b0\u5ba4\u5185\u5b9a\u70b9\u2014\u2014\u6bcf\u4e00\u6b65\u90fd\u8bb2\u6e05\u695a"\u4e3a\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/100863.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-09-05T05:57:13+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260905055709-6a9baf3532450.png\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"22 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/100863.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/100863.html\",\"name\":\"stm32_mpu6050_\u6ee4\u6ce2\u6559\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"isPartOf\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\"},\"datePublished\":\"2026-09-05T05:57:13+00:00\",\"dateModified\":\"2026-09-05T05:57:13+00:00\",\"author\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\"},\"breadcrumb\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/100863.html#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.wsisp.com\/helps\/100863.html\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/100863.html#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/www.wsisp.com\/helps\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"stm32_mpu6050_\u6ee4\u6ce2\u6559\u7a0b\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\",\"url\":\"https:\/\/www.wsisp.com\/helps\/\",\"name\":\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"description\":\"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\",\"name\":\"admin\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"contentUrl\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"caption\":\"admin\"},\"sameAs\":[\"http:\/\/wp.wsisp.com\"],\"url\":\"https:\/\/www.wsisp.com\/helps\/author\/admin\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"stm32_mpu6050_\u6ee4\u6ce2\u6559\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.wsisp.com\/helps\/100863.html","og_locale":"zh_CN","og_type":"article","og_title":"stm32_mpu6050_\u6ee4\u6ce2\u6559\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","og_description":"🚁 STM32 MPU6050 \u4ece\u96f6\u5230\u56db\u8f74：\u4e00\u5957\u8ba9\u4f60\u771f\u7684\"\u770b\u61c2\"\u98de\u63a7\u7684\u6559\u7a0b \u4e00\u53e5\u8bdd\u8bf4\u6e05\u8fd9\u7bc7\u6559\u7a0b\u5728\u5e72\u561b：\u6211\u4eec\u7528\u4e00\u5757 STM32\u3001\u4e00\u4e2a MPU6050（\u5c0f\u9640\u87ba\u5c0f\u52a0\u901f\u5ea6\u8ba1），\u4e00\u6b65\u6b65\u505a\u51fa\u4e00\u4e2a\"\u77e5\u9053\u81ea\u5df1\u5728\u54ea\u3001\u600e\u4e48\u4fdd\u6301\u5e73\u8861\u3001\u600e\u4e48\u98de\u7a33\"\u7684\u56db\u8f74\u98de\u63a7\u6838\u5fc3\u3002\u4ece\u8bfb\u53d6\u4f20\u611f\u5668\u539f\u59cb\u6570\u636e，\u5230\u7b97\u51fa\u59ff\u6001\u89d2，\u5230\u7528 PID \u53bb\u63a7\u5236\u7535\u673a，\u518d\u5230\u7528\u5149\u6d41\u4f20\u611f\u5668\u5b9e\u73b0\u5ba4\u5185\u5b9a\u70b9\u2014\u2014\u6bcf\u4e00\u6b65\u90fd\u8bb2\u6e05\u695a\"\u4e3a","og_url":"https:\/\/www.wsisp.com\/helps\/100863.html","og_site_name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","article_published_time":"2026-09-05T05:57:13+00:00","og_image":[{"url":"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260905055709-6a9baf3532450.png"}],"author":"admin","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"admin","\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4":"22 \u5206"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.wsisp.com\/helps\/100863.html","url":"https:\/\/www.wsisp.com\/helps\/100863.html","name":"stm32_mpu6050_\u6ee4\u6ce2\u6559\u7a0b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","isPartOf":{"@id":"https:\/\/www.wsisp.com\/helps\/#website"},"datePublished":"2026-09-05T05:57:13+00:00","dateModified":"2026-09-05T05:57:13+00:00","author":{"@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41"},"breadcrumb":{"@id":"https:\/\/www.wsisp.com\/helps\/100863.html#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.wsisp.com\/helps\/100863.html"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www.wsisp.com\/helps\/100863.html#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/www.wsisp.com\/helps"},{"@type":"ListItem","position":2,"name":"stm32_mpu6050_\u6ee4\u6ce2\u6559\u7a0b"}]},{"@type":"WebSite","@id":"https:\/\/www.wsisp.com\/helps\/#website","url":"https:\/\/www.wsisp.com\/helps\/","name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","description":"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41","name":"admin","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/","url":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","contentUrl":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","caption":"admin"},"sameAs":["http:\/\/wp.wsisp.com"],"url":"https:\/\/www.wsisp.com\/helps\/author\/admin"}]}},"_links":{"self":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/100863","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/comments?post=100863"}],"version-history":[{"count":0,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/100863\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media\/100851"}],"wp:attachment":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media?parent=100863"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/categories?post=100863"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/tags?post=100863"},{"taxonomy":"topic","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/topic?post=100863"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}