Question

我使用库https://www.google.com/url?sa=t&source=web&rct=j&url=https://github.com/arduino-libraries/MadgwickAHRS&ved=2ahUKEwiGrpOakcvjAhWOlIsKHXsQD_EQFjAAegQIBRAB&usg=AOvVaw3198y6BzSifkJqTH8BGy8M从Raspberry Pi平台mpu9250获取数据。但是一个四元数几乎等于1，这正常吗？我使用updateIMU（仅使用加速度计和陀螺仪），然后调用该函数将四元数转换为Eiler的角。但是m_pitch，m_roll，m_yaw很小，我也试图将这些值乘以180 / 3.14，但是这些值仍然很小。如何解决此问题并使法线角度从0到360？

陀螺仪的度数/秒，加速度计的范围是2G

madgwick_init();
//begin(50);

while(1){

    gyro_get_raw(calibrate_raw, &gx, &gy, &gz);
    accel_get_axis(calibrate_range, &ax, &ay, &az);

    updateIMU((float)gx, (float)gy, (float)gz, (float)ax, (float)ay, (float)az);

    printf("accel: x = %d\n", ax);
    printf("accel: y = %d\n", ay);
    printf("accel: z = %d\n\n", az);

    printf("gyro: x = %d\n", gx);
    printf("gyro: y = %d\n", gy);
    printf("gyro: z = %d\n\n", gz);

    printf("q0 = %f\n", q0);
    printf("q1 = %f\n", q1);
    printf("q2 = %f\n", q2);
    printf("q3 = %f\n", q3);

    // get_euler_angles(&q0, &q1, &q2, &q3);
    computeAngles();

    printf("roll: %f\n", m_roll);
    printf("pitch: %f\n", m_pitch);
    printf("yaw: %f\n", m_yaw);

    // printf("deg: x = %f\n", gyro_trapezoid_integration(GYRO_INTEGRATION_X, 1));
    // printf("deg: y = %f\n", gyro_trapezoid_integration(GYRO_INTEGRATION_Y, 1));
    // printf("deg: z = %f\n\n", gyro_trapezoid_integration(GYRO_INTEGRATION_Z, 1));



    //printf("x = %d\n", gyro_get_x_raw());
    //printf("(double)x = %f\n", gyro_get_x_calib_raw(0.00875));
    //printf("rpm: %d\n", 1500);
    //set_speed_motor(4, 1500);

    delay(250);
    system("clear");
}

四元数度数MPU9250

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