9-Axis Sensor learning

1. Explanation of several angles Euler angle:http://baike.baidu.com/link?url= Vajuhz-luawv7zua-67dibb0jjwyyqqnwnqeejdrcomwdt1xrtjgq2anyojngfrkfoo3t_1gcwpebbgp3npfzq
With Euler's angle, you can determine the following, roll angle, pitch angle, and yaw angle .
In general, the right, front and top three directions of the carrier are formed right-hand system, the axis around the forward rotation is the roll angle , rotation around the right axis is the pitch angle , the axis around the upward rotation is the course angle .

Pitch angle: The angle between the x-axis and the horizontal plane of the body coordinate system. When the positive half axis of the x-axis is above the horizontal plane of the origin of the coordinates, the pitch angle is positive, and by custom, the range of the pitch angle θ is:-Π/2≤Θ≤Π/2.


9-axis sensor: 3-axis acceleration, 3-axis angular velocity, 3-axis Magnetic induction
2, plus speed MPU6050 output is a 16-bit acceleration ADC value, set the time can be set according to their own requirements of the range, set the time to pay attention to a self-test bit register, if the register is enabled, we will subtract an offset when calculating acceleration, this should be noted. 0X1C Register: This register we only care about, afs_sel[1:0] This bit, used to set the speed sensor's full-scale range: 0, Shi 2g; 1, Shi 4g;2, Shi 8g;3, Shi 16g; we are generally set to 0, namely 0, Shi 2g; , because the accelerometer ADC is also 16 bits, so the sensitivity is: 65536/4=16384lsb/g.