基于MSP430f5529的MPU6050驱动，求出欧拉角

Question

已经获得原始数据，只需要再写一个函数，入口为六个原始数据，以指针的方式传递三个角度的值

Answer 1

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完整代码：

#include <math.h>

void calculate_euler_angles(int16_t acc_x, int16_t acc_y, int16_t acc_z, int16_t gyro_x, int16_t gyro_y, int16_t gyro_z, float *roll, float *pitch, float *yaw) {
  // Calculate the roll and pitch angles using accelerometer data
  *roll = atan2(acc_y, acc_z);
  *pitch = atan2(-acc_x, sqrt(acc_y * acc_y + acc_z * acc_z));

  // Calculate the yaw angle using gyroscope data
  *yaw += gyro_z * 0.001; // Convert from degrees per second to radians per second
}

使用方法：

int16_t acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z;
float roll, pitch, yaw;

// Get the raw sensor data from the MPU6050
get_sensor_data(&acc_x, &acc_y, &acc_z, &gyro_x, &gyro_y, &gyro_z);

// Calculate the Euler angles using the provided function
calculate_euler_angles(acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z, &roll, &pitch, &yaw);