我正在使用MPU-9150。它一次发送一个加速度计数据，陀螺仪数据，旋转数据等数据包。要访问不同的数据包，我使用if语句if self.type == 0 for accelerometer和if self.type == 5 for rotation。
现在我的问题是弄清楚如何获取两个数据包，因为后续计算需要两者都可用。
self.readings = [0,0,0,0,0,0,0,0,0,0,0,0]
#if (self.type == 0) and (self.type == 5):
# print "Both data is available"
counter = 0
while counter < 1:
if self.type == 0:
print "TESTING FOR ACCELERATION"
self.readings[0] = self.data[0]
self.readings[1] = self.data[1]
self.readings[2] = self.data[2]
elif self.type == 5:
print "TESTING FOR ROTATION MATRIX"
self.readings[3] = self.data[0]
self.readings[4] = self.data[1]
self.readings[5] = self.data[2]
self.readings[6] = self.data[3]
self.readings[7] = self.data[4]
self.readings[8] = self.data[5]
self.readings[9] = self.data[6]
self.readings[10] = self.data[7]
self.readings[11] = self.data[8]
else:
print "None of the Conditions are True!"
pass
counter += 1
aX = self.readings[0]
aY = self.readings[1]
aZ = self.readings[2]
print 'Acc in X = ', aX
print 'Acc in Y = ', aY
print 'Acc in Z = ', aZ
r1 = self.readings[3]
r2 = self.readings[4]
r3 = self.readings[5]
r4 = self.readings[6]
r5 = self.readings[7]
r6 = self.readings[8]
r7 = self.readings[9]
r8 = self.readings[10]
r9 = self.readings[11]
print 'rotation matrix: \n%7.3f %7.3f %7.3f\n%7.3f %7.3f %7.3f\n%7.3f %7.3f %7.3f' % \
(r1, r2, r3, \
r4, r5, r6, \
r7, r8, r9)
运行此代码检查self.type == 0并给出加速度值但保留零点进行旋转，然后它给出旋转值和零加速度。
当我记录运行代码的结果时，我获得了结果
TESTING FOR ACCELERATION
Acc in X = -0.08056640625
Acc in Y = -0.04541015625
Acc in Z = 1.0068359375
rotation matrix:
0.000 0.000 0.000
0.000 0.000 0.000
0.000 0.000 0.000
TESTING FOR ROTATION MATRIX
Acc in X = 0
Acc in Y = 0
Acc in Z = 0
rotation matrix:
0.980 0.178 0.085
-0.181 0.983 0.030
-0.078 -0.045 0.996
TESTING FOR ACCELERATION
Acc in X = -0.080078125
Acc in Y = -0.044921875
Acc in Z = 1.0068359375
rotation matrix:
0.000 0.000 0.000
0.000 0.000 0.000
etc