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Mpu6050 code
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The original data obtained by the acceleration sensor and angular velocity sensor of mpu6050 is not very useful to us. What we expect is the attitude data, that is, Euler angle: yaw, roll and pitch. But in order to get the Euler angle data, we need to use the original data for attitude fusion settlement, which is more complex and difficult for beginners to master, so mpu6050 comes with a digital motion processor DMP, which converts the original data into quaternion output, and then calculates the Euler angle conveniently from quaternion. Of course, we can also use Kalman filter to get Euler angle directly from the original data. There are two methods to get attitude data from original data: 1. DMP method: original data quaternion attitude data (Euler angle) 2. Kalman filter method: original data attitude data (Euler angle)
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