如何从加速度计和陀螺仪中过滤（对齐）值？我需要使用C ++或C的过滤器的现成实现。我需要更准确甚至均匀的值，因为它们落入MahonyAHRS中，并且随着这些值不断跳变，我经常会更改以MahonyAHRS计算的角度
很抱歉，另一种语言...
Крен-滚动（度/秒）
Тангаж-节距（度/秒）
Рысканье-偏航（度/秒）
Fee：
q0 = 0.895206
q1 = -0.361713
q2 = 0.100835
q3 = -0.239990
Крен: -67.842026
Тангаж: -34.891617
Рысканье: 140.891891
accel: x = -2328.000000
accel: y = 2418.000000
accel: z = -7476.000000
gyro: x = 0.087222
gyro: y = -0.645444
gyro: z = 0.593111
q0 = 0.689984
q1 = -0.584941
q2 = -0.056246
q3 = -0.422614
Крен: -41.809803
Тангаж: -61.336689
Рысканье: 91.696533
accel: x = -2642.000000
accel: y = 1652.000000
accel: z = -8730.000000
gyro: x = -0.069778
gyro: y = -0.034889
gyro: z = 0.052333
q0 = 0.449745
q1 = -0.552114
q2 = -0.128100
q3 = -0.690283
Крен: 29.762054
Тангаж: -55.818211
Рысканье: 356.836761
accel: x = -2486.000000
accel: y = 1554.000000
accel: z = -6992.000000
gyro: x = -0.052333
gyro: y = 0.453556
gyro: z = -0.017444
q0 = 0.096588
q1 = -0.458463
q2 = -0.214371
q3 = -0.857046
Крен: 39.871372
Тангаж: -27.299038
Рысканье: 323.055450
accel: x = -1780.000000
accel: y = 2702.000000
accel: z = -8654.000000
gyro: x = 0.279111
gyro: y = -0.994333
gyro: z = 0.907111
q0 = -0.213131
q1 = -0.315393
q2 = -0.243975
q3 = -0.891952
Крен: 34.150421
Тангаж: 11.092891
Рысканье: 296.308533
accel: x = -564.000000
accel: y = 1552.000000
accel: z = -7622.000000
gyro: x = -1.535111
gyro: y = -2.983000
gyro: z = 3.070222
q0 = -0.526122
q1 = -0.075718
q2 = -0.297009
q3 = -0.793251
Крен: 16.056236
Тангаж: 36.143970
Рысканье: 260.987701
accel: x = -160.000000
accel: y = -186.000000
accel: z = -7816.000000
gyro: x = -0.296556
gyro: y = 0.715222
gyro: z = -0.715222
q0 = -0.744007
q1 = 0.098499
q2 = -0.319812
q3 = -0.578335
Крен: -15.627434
Тангаж: 35.359829
Рысканье: 210.327225
accel: x = -1158.000000
accel: y = -592.000000
accel: z = -7484.000000
gyro: x = 0.087222
gyro: y = 0.261667
gyro: z = 0.017444
q0 = -0.900257
q1 = 0.203724
q2 = -0.256521
q3 = -0.286759
Крен: -37.894470
Тангаж: 14.229789
Рысканье: 173.648987
accel: x = -1232.000000
accel: y = 92.000000
accel: z = -8304.000000
gyro: x = 0.174444
gyro: y = 0.069778
gyro: z = -0.174444
q0 = -0.939322
q1 = 0.315213
q2 = -0.134817
q3 = 0.011835
Крен: -44.522816
Тангаж: -14.532032
Рысканье: 141.376297
accel: x = -1182.000000
accel: y = 492.000000
accel: z = -8178.000000
gyro: x = -0.034889
gyro: y = 0.087222
gyro: z = -0.191889
q0 = -0.850533
q1 = 0.393355
q2 = -0.013814
q3 = 0.348820
Крен: -32.159889
Тангаж: -39.903450
Рысканье: 102.417557