《从零开始打造固定翼飞控》arduino平台esp32-c3芯片mpu6050 卡尔曼滤波kalman_esp32 飞控

使用市面上最常用esp32c3合宙开发板无串口芯片9.9包邮
mpu6050模块
一开始按照拼夕夕官网链接I2C导致没有输出亲们按照我的来链接

GPIO08—>SDA
GPIO09—>SCL

需要在arduino平台安装库文件名字和版本号可以参考我截图

复制粘贴下面的代码到界面

#include <Wire.h>
#include <MPU6050.h>
#include <Kalman.h>

MPU6050 mpu;
Kalman kalmanX;
Kalman kalmanY;

unsigned long t;
void setup() {
  Serial.begin(9600);
  Wire.begin();
  mpu.initialize();
  Serial.println("MPU6050 init done");
  kalmanX.setAngle(0);
  kalmanY.setAngle(0);
}

void loop() {
  int16_t ax, ay, az, gx, gy, gz;

  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  double roll = atan2(ay, az) * 180.0 / PI;
  double pitch = atan2(-ax, sqrt(ay * ay + az * az)) * 180.0 / PI;
  double kalmanRoll = kalmanX.getAngle(roll, gx, (double)(micros() - t));
  double kalmanPitch = kalmanY.getAngle(pitch, gy, (double)(micros() - t));
  t = micros();
  // double kalmanRoll = kalmanX.getAngle(roll, gx, (double)1 / 100);
  // double kalmanPitch = kalmanY.getAngle(pitch, gy, (double)1 / 100);
  Serial.print("Roll: ");
  Serial.print(kalmanRoll);
  Serial.print("\tPitch: ");
  Serial.println(kalmanPitch);
  delay(10);
}
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然后打开arduino自带的串口示波器
就可以看到这样的图形
放在桌子上不动的时候

摇摆开发板的时候