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楼主 |
发表于 2016-11-22 11:10:43
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显示全部楼层
……
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997643, RwEst[1]=0.000960, RwEst[2]=0.072435
Awz_X=85, Awz_Y=0, tmpf=-0.007317
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997462, RwEst[1]=0.001040, RwEst[2]=0.071624
Awz_X=85, Awz_Y=0, tmpf=-0.035366
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997661, RwEst[1]=0.000773, RwEst[2]=0.071494
Awz_X=85, Awz_Y=0, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997768, RwEst[1]=0.001240, RwEst[2]=0.070883
Awz_X=85, Awz_Y=0, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997769, RwEst[1]=0.001827, RwEst[2]=0.070504
Awz_X=85, Awz_Y=1, tmpf=0.018293
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997945, RwEst[1]=0.001789, RwEst[2]=0.069888
Awz_X=86, Awz_Y=1, tmpf=0.006707
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997266, RwEst[1]=0.002971, RwEst[2]=0.064135
Awz_X=86, Awz_Y=2, tmpf=-0.009756
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998143, RwEst[1]=0.003070, RwEst[2]=0.064613
Awz_X=86, Awz_Y=2, tmpf=-0.039634
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997942, RwEst[1]=0.003349, RwEst[2]=0.064487
Awz_X=86, Awz_Y=2, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998270, RwEst[1]=0.003072, RwEst[2]=0.064282
Awz_X=86, Awz_Y=2, tmpf=0.001220
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998033, RwEst[1]=0.003100, RwEst[2]=0.063912
Awz_X=86, Awz_Y=2, tmpf=0.002439
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997779, RwEst[1]=0.003178, RwEst[2]=0.064493
Awz_X=86, Awz_Y=2, tmpf=-0.026829
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998031, RwEst[1]=0.002954, RwEst[2]=0.063611
Awz_X=86, Awz_Y=2, tmpf=-0.000610
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997760, RwEst[1]=0.002992, RwEst[2]=0.062906
Awz_X=86, Awz_Y=2, tmpf=-0.020732
app_read_sensor_data_timer_handler,*****RwEst[0]=0.997969, RwEst[1]=0.003058, RwEst[2]=0.062165
Awz_X=86, Awz_Y=2, tmpf=-0.031707
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998079, RwEst[1]=0.003039, RwEst[2]=0.061530
Awz_X=86, Awz_Y=2, tmpf=-0.031098
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998675, RwEst[1]=0.002709, RwEst[2]=0.060959
Awz_X=86, Awz_Y=2, tmpf=-0.002439
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998168, RwEst[1]=0.002552, RwEst[2]=0.060488
Awz_X=86, Awz_Y=2, tmpf=-0.020122
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998272, RwEst[1]=0.002785, RwEst[2]=0.059133
Awz_X=86, Awz_Y=2, tmpf=-0.001220
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998628, RwEst[1]=0.002930, RwEst[2]=0.058394
Awz_X=86, Awz_Y=2, tmpf=-0.049390
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998322, RwEst[1]=0.002543, RwEst[2]=0.056819
Awz_X=86, Awz_Y=2, tmpf=-0.054268
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999132, RwEst[1]=0.002437, RwEst[2]=0.055508
Awz_X=86, Awz_Y=2, tmpf=0.013415
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998938, RwEst[1]=0.002553, RwEst[2]=0.054198
Awz_X=86, Awz_Y=2, tmpf=0.003049
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998596, RwEst[1]=0.002610, RwEst[2]=0.052495
Awz_X=87, Awz_Y=2, tmpf=0.011585
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998775, RwEst[1]=0.002728, RwEst[2]=0.051535
Awz_X=87, Awz_Y=3, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998985, RwEst[1]=0.003079, RwEst[2]=0.051405
Awz_X=87, Awz_Y=3, tmpf=-0.009756
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998648, RwEst[1]=0.003357, RwEst[2]=0.050294
Awz_X=87, Awz_Y=3, tmpf=0.015854
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998734, RwEst[1]=0.003442, RwEst[2]=0.049467
Awz_X=87, Awz_Y=3, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999089, RwEst[1]=0.003358, RwEst[2]=0.048225
Awz_X=87, Awz_Y=3, tmpf=0.003049
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999072, RwEst[1]=0.003318, RwEst[2]=0.048395
Awz_X=87, Awz_Y=3, tmpf=0.004268
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999113, RwEst[1]=0.003212, RwEst[2]=0.048238
Awz_X=87, Awz_Y=3, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999161, RwEst[1]=0.002884, RwEst[2]=0.047949
Awz_X=87, Awz_Y=3, tmpf=0.017683
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999114, RwEst[1]=0.003024, RwEst[2]=0.048139
Awz_X=87, Awz_Y=3, tmpf=0.009146
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998859, RwEst[1]=0.002926, RwEst[2]=0.048163
Awz_X=87, Awz_Y=3, tmpf=-0.033537
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998946, RwEst[1]=0.002961, RwEst[2]=0.047872
Awz_X=87, Awz_Y=3, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998977, RwEst[1]=0.002872, RwEst[2]=0.047647
Awz_X=87, Awz_Y=3, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999209, RwEst[1]=0.003025, RwEst[2]=0.047099
Awz_X=87, Awz_Y=3, tmpf=-0.019512
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999052, RwEst[1]=0.003271, RwEst[2]=0.046146
Awz_X=87, Awz_Y=4, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999344, RwEst[1]=0.003552, RwEst[2]=0.045682
Awz_X=87, Awz_Y=4, tmpf=-0.034756
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999047, RwEst[1]=0.003245, RwEst[2]=0.044880
Awz_X=87, Awz_Y=4, tmpf=0.020122
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999238, RwEst[1]=0.003603, RwEst[2]=0.044237
Awz_X=87, Awz_Y=4, tmpf=-0.010976
app_read_sensor_data_timer_handler,*****RwEst[0]=0.998910, RwEst[1]=0.003835, RwEst[2]=0.043696
Awz_X=87, Awz_Y=5, tmpf=0.003659
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999546, RwEst[1]=0.003889, RwEst[2]=0.043325
Awz_X=87, Awz_Y=5, tmpf=-0.010366
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999281, RwEst[1]=0.003889, RwEst[2]=0.043042
Awz_X=87, Awz_Y=5, tmpf=-0.027439
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999374, RwEst[1]=0.003580, RwEst[2]=0.042021
Awz_X=87, Awz_Y=4, tmpf=0.011585
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999267, RwEst[1]=0.004242, RwEst[2]=0.040887
Awz_X=87, Awz_Y=5, tmpf=0.008537
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999371, RwEst[1]=0.004291, RwEst[2]=0.039870
Awz_X=87, Awz_Y=6, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999656, RwEst[1]=0.004327, RwEst[2]=0.039446
Awz_X=87, Awz_Y=6, tmpf=-0.025000
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999625, RwEst[1]=0.004361, RwEst[2]=0.038936
Awz_X=87, Awz_Y=6, tmpf=-0.012195
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999440, RwEst[1]=0.004720, RwEst[2]=0.037895
Awz_X=87, Awz_Y=7, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999496, RwEst[1]=0.004453, RwEst[2]=0.036967
Awz_X=87, Awz_Y=6, tmpf=0.004878
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999730, RwEst[1]=0.004701, RwEst[2]=0.036338
Awz_X=87, Awz_Y=7, tmpf=-0.007317
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999681, RwEst[1]=0.004925, RwEst[2]=0.036327
Awz_X=87, Awz_Y=7, tmpf=0.012805
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999684, RwEst[1]=0.004883, RwEst[2]=0.035767
Awz_X=87, Awz_Y=7, tmpf=-0.007317
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999415, RwEst[1]=0.005119, RwEst[2]=0.034917
Awz_X=88, Awz_Y=8, tmpf=0.012195
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999816, RwEst[1]=0.004731, RwEst[2]=0.035146
Awz_X=87, Awz_Y=7, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999590, RwEst[1]=0.004701, RwEst[2]=0.034091
Awz_X=88, Awz_Y=7, tmpf=-0.022561
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999842, RwEst[1]=0.004847, RwEst[2]=0.034117
Awz_X=88, Awz_Y=8, tmpf=-0.034756
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999751, RwEst[1]=0.004777, RwEst[2]=0.033430
Awz_X=88, Awz_Y=8, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999572, RwEst[1]=0.004965, RwEst[2]=0.032221
Awz_X=88, Awz_Y=8, tmpf=-0.009756
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999853, RwEst[1]=0.004714, RwEst[2]=0.031423
Awz_X=88, Awz_Y=8, tmpf=-0.034146
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999547, RwEst[1]=0.004996, RwEst[2]=0.029236
Awz_X=88, Awz_Y=9, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999399, RwEst[1]=0.005361, RwEst[2]=0.028362
Awz_X=88, Awz_Y=10, tmpf=-0.033537
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999599, RwEst[1]=0.005438, RwEst[2]=0.027508
Awz_X=88, Awz_Y=11, tmpf=-0.046951
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999398, RwEst[1]=0.005344, RwEst[2]=0.026228
Awz_X=88, Awz_Y=11, tmpf=0.020122
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000078, RwEst[1]=0.005391, RwEst[2]=0.025403
Awz_X=88, Awz_Y=11, tmpf=-0.008537
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000051, RwEst[1]=0.005388, RwEst[2]=0.024305
Awz_X=88, Awz_Y=12, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999877, RwEst[1]=0.005608, RwEst[2]=0.023050
Awz_X=88, Awz_Y=13, tmpf=-0.021951
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000059, RwEst[1]=0.005806, RwEst[2]=0.022218
Awz_X=88, Awz_Y=14, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999695, RwEst[1]=0.006013, RwEst[2]=0.020312
Awz_X=88, Awz_Y=16, tmpf=0.024390
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000175, RwEst[1]=0.005982, RwEst[2]=0.019931
Awz_X=88, Awz_Y=16, tmpf=-0.035976
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999917, RwEst[1]=0.006227, RwEst[2]=0.018821
Awz_X=88, Awz_Y=18, tmpf=-0.040244
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000331, RwEst[1]=0.007010, RwEst[2]=0.017425
Awz_X=89, Awz_Y=21, tmpf=0.005488
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000018, RwEst[1]=0.007056, RwEst[2]=0.016424
Awz_X=89, Awz_Y=23, tmpf=-0.003049
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000321, RwEst[1]=0.007238, RwEst[2]=0.015516
Awz_X=89, Awz_Y=25, tmpf=-0.003659
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999823, RwEst[1]=0.007268, RwEst[2]=0.014215
Awz_X=89, Awz_Y=27, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999907, RwEst[1]=0.007333, RwEst[2]=0.014179
Awz_X=89, Awz_Y=27, tmpf=-0.009146
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999930, RwEst[1]=0.007545, RwEst[2]=0.013037
Awz_X=89, Awz_Y=30, tmpf=-0.017683
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000541, RwEst[1]=0.007376, RwEst[2]=0.012785
Awz_X=89, Awz_Y=29, tmpf=-0.010976
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000059, RwEst[1]=0.007363, RwEst[2]=0.010881
Awz_X=89, Awz_Y=34, tmpf=-0.018902
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999878, RwEst[1]=0.007401, RwEst[2]=0.010214
Awz_X=89, Awz_Y=35, tmpf=-0.001220
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999995, RwEst[1]=0.007706, RwEst[2]=0.009993
Awz_X=89, Awz_Y=37, tmpf=0.004878
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000105, RwEst[1]=0.008086, RwEst[2]=0.009452
Awz_X=89, Awz_Y=40, tmpf=-0.032927
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000152, RwEst[1]=0.007663, RwEst[2]=0.008771
Awz_X=89, Awz_Y=41, tmpf=-0.015854
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000495, RwEst[1]=0.007920, RwEst[2]=0.007568
Awz_X=89, Awz_Y=46, tmpf=-0.042073
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000236, RwEst[1]=0.007883, RwEst[2]=0.005914
Awz_X=89, Awz_Y=53, tmpf=0.006098
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000445, RwEst[1]=0.007927, RwEst[2]=0.005326
Awz_X=89, Awz_Y=56, tmpf=-0.035366
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999920, RwEst[1]=0.007984, RwEst[2]=0.000342
Awz_X=89, Awz_Y=87, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000310, RwEst[1]=0.007213, RwEst[2]=-0.000199
Awz_X=90, Awz_Y=91, tmpf=-0.002439
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000368, RwEst[1]=0.008129, RwEst[2]=-0.000977
Awz_X=90, Awz_Y=96, tmpf=-0.028049
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000053, RwEst[1]=0.008663, RwEst[2]=-0.001985
Awz_X=90, Awz_Y=102, tmpf=-0.004268
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000521, RwEst[1]=0.008265, RwEst[2]=-0.001740
Awz_X=90, Awz_Y=101, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000165, RwEst[1]=0.008277, RwEst[2]=-0.003043
Awz_X=90, Awz_Y=110, tmpf=-0.031098
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000453, RwEst[1]=0.007758, RwEst[2]=-0.004518
Awz_X=90, Awz_Y=120, tmpf=-0.018902
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000229, RwEst[1]=0.007526, RwEst[2]=-0.005668
Awz_X=90, Awz_Y=126, tmpf=-0.034756
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000092, RwEst[1]=0.007610, RwEst[2]=-0.007092
Awz_X=90, Awz_Y=132, tmpf=-0.021951
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000346, RwEst[1]=0.007714, RwEst[2]=-0.007423
Awz_X=90, Awz_Y=133, tmpf=-0.020122
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000347, RwEst[1]=0.007178, RwEst[2]=-0.008975
Awz_X=90, Awz_Y=141, tmpf=-0.011585
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000006, RwEst[1]=0.007304, RwEst[2]=-0.009855
Awz_X=90, Awz_Y=143, tmpf=-0.027439
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000042, RwEst[1]=0.007156, RwEst[2]=-0.011051
Awz_X=90, Awz_Y=147, tmpf=-0.000610
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000277, RwEst[1]=0.007063, RwEst[2]=-0.012012
Awz_X=90, Awz_Y=149, tmpf=-0.004268
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000287, RwEst[1]=0.007105, RwEst[2]=-0.012906
Awz_X=90, Awz_Y=151, tmpf=-0.021951
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999723, RwEst[1]=0.007188, RwEst[2]=-0.014132
Awz_X=90, Awz_Y=153, tmpf=-0.014024
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999773, RwEst[1]=0.006838, RwEst[2]=-0.015797
Awz_X=90, Awz_Y=156, tmpf=0.002439
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000332, RwEst[1]=0.007051, RwEst[2]=-0.016184
Awz_X=90, Awz_Y=156, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000590, RwEst[1]=0.007095, RwEst[2]=-0.017065
Awz_X=90, Awz_Y=157, tmpf=0.010976
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000043, RwEst[1]=0.007340, RwEst[2]=-0.018642
Awz_X=91, Awz_Y=158, tmpf=0.009756
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000504, RwEst[1]=0.007453, RwEst[2]=-0.019483
Awz_X=91, Awz_Y=159, tmpf=-0.012195
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000071, RwEst[1]=0.007995, RwEst[2]=-0.021469
Awz_X=91, Awz_Y=159, tmpf=-0.042073
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000316, RwEst[1]=0.008196, RwEst[2]=-0.022938
Awz_X=91, Awz_Y=160, tmpf=-0.001220
app_read_sensor_data_timer_handler,*****RwEst[0]=0.999861, RwEst[1]=0.008547, RwEst[2]=-0.023488
Awz_X=91, Awz_Y=160, tmpf=0.005488
app_read_sensor_data_timer_handler,*****RwEst[0]=1.000117, RwEst[1]=0.008677, RwEst[2]=-0.023244
Awz_X=91, Awz_Y=159, tmpf=-0.005488
如上是我在一楼链接中打印出来的log,在Awz_X旋转达到86°以前,YAwz_Y的角度基本不变;但是随着Awz_X逐渐达到90°时,Awz_Y为什么会达到100多度呢?
这个感觉不像是滤波的问题,很困惑? |
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