MPU6050 角度問題請教

ga742112

各位前輩好
小弟目前使用mpu6050 做四軸飛行器

角度值雖然得到了,但遇到了一些問題想請教




算出來的pitch值 (往角度小的方向轉動) ,快速的小小轉動一下mpu6050

發現它的數值pitch會瞬間先變大,再變回當下正確的角度值

有疑惑的是,roll的數值卻是正常的....不會有值突然增大的現象

拜託前輩們及神人們指點!!



附上程式碼

#include "I2Cdev.h"
#include "MPU6050.h"
#include "Wire.h"

long LastTime, NowTime, TimeSpan;
float Ax,Ay,Az;
float X,Y,Z;                                          // angle from acclerometer
float Gyro_x, Gyro_y,Gyro_z;                 // angle accleration from gyro sensor
float ix,iy,iz;
float Roll,Pitch,Yaw;


MPU6050 accelgyro;
int16_t ax, ay, az;
int16_t gx, gy, gz;


void setup()
{
Wire.begin();
Serial.begin(9600);
accelgyro.initialize();


}

void loop()
{

  angle();

}

void angle(){
  accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  Ax = ax/16384.00;
  Ay = ay/16384.00;
  Az = az/16384.00;
  X = atan(Ax/sqrt(Az*Az+Ay*Ay))*180/PI;             //angle from accelermeter
  Y = atan(Ay/sqrt(Az*Az+Ax*Ax))*180/PI;
  Z = atan(Az/sqrt(Ax*Ax+Ay*Ay))*180/PI;

  Gyro_x = gx/131.00+6;       // get angle acceleration
  Gyro_y = gy/131.00;
  Gyro_z = gz/131.00;

  NowTime = millis(); //star to count time
  TimeSpan = NowTime - LastTime; //count time pass
  ix = 0.95*(ix + Gyro_x*TimeSpan / 1000) + 0.05*Y;            // position count by Complementary Filter
  iy = 0.94*(iy + Gyro_y*TimeSpan / 1000) + 0.06*X;
  LastTime = NowTime;

  Roll = ix
  Pitch = iy;

Serial.print("Roll : ");
Serial.print(ix);
Serial.print("Pitch : ");
Serial.println(iy);
}

w502404730

请问你是怎么连线的？谢谢