Radiumray9：创建页面，内容为“
'''mpu.getYawPitchRoll(ypr);'''

'''作用'''
得到姿态传感器的…”

2017-12-18T06:39:59Z

创建页面，内容为“'''mpu.getYawPitchRoll(ypr);''' '''作用''' 得到姿态传感器的…”

新页面

'''mpu.getYawPitchRoll(ypr);'''
 

'''作用'''
得到姿态传感器的俯仰，翻滚，偏航

'''参数'''
float ypr[3]：三个浮点小数，分别存储俯仰，翻滚，偏航

'''示例'''
<source lang="cpp">

#include <MPU6050_6Axis_Microduino.h>
//#include "MPU6050.h" // not necessary if using MotionApps include file

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;

// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION

// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL

// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
uint8_t mpuMode;
bool mpuReady;

// ================================================================
// === INITIAL SETUP ===
// ================================================================

void setup() {
// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately

//set MPU mode
mpuMode = MODE_DMP; //MODE_DMP/MODE_SW
// verify connection
// load and configure the MPU
Serial.println(F("Initializing MPU..."));
mpuReady = mpu.begin(mpuMode);
if (!mpuReady) {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("MPU Initialization failed!"));
}
}

// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================

void loop() {
// if programming failed, don't try to do anything
if (!mpuReady) return;

#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.getQuaternion(&q);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif

#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.getYawPitchRoll(ypr);
Serial.print("ypr\t");
Serial.print(ypr[0]);
Serial.print("\t");
Serial.print(ypr[1]);
Serial.print("\t");
Serial.println(ypr[2]);
#endif
}

</source>

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MPU6050.getYawPitchRoll() - 版本历史

Radiumray9：创建页面，内容为“'''mpu.getYawPitchRoll(ypr);''' '''作用''' 得到姿态传感器的…”

Radiumray9：创建页面，内容为“
'''mpu.getYawPitchRoll(ypr);'''

'''作用'''
得到姿态传感器的…”