关于6050，当X的旋转角达到90°时，Y轴的角度会突变达到100多度，为什么呢？
看了这个链接MPU6050姿态识别【抛砖】，引'弘毅''Randy'等人【抛玉】
http://www.geek-workshop.com/thread-1935-1-1.html
(出处: 极客工坊)
发现一个问题：这个我也尝试了，确实出效果了。但是有一个可能大家没有注意到的问题，就是当只绕着某一个轴(Y轴)旋转到86度的偏角时，输出的Awz(即Awz_X)也准确接近86度，此时另一个角度Awz(即Awz_Y)不变，接近0；但继续旋转到90度时，虽然Awz_X也精确到90度，但另一个角度Awz(即Awz_Y)的角度迅速逐步增加，达到100多度，这个很奇怪呢！正常来说，绕某个轴旋转，应该只有一个角度变化，而另一个角度是不会有太大变化，所以请问下这个是什么原因？
附上log输出：
……
app_read_sensor_data_timer_handler,*****RwEst=0.997643,RwEst=0.000960,RwEst=0.072435
Awz_X=85, Awz_Y=0, tmpf=-0.007317
app_read_sensor_data_timer_handler,*****RwEst=0.997462,RwEst=0.001040,RwEst=0.071624
Awz_X=85, Awz_Y=0, tmpf=-0.035366
app_read_sensor_data_timer_handler,*****RwEst=0.997661,RwEst=0.000773,RwEst=0.071494
Awz_X=85, Awz_Y=0, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst=0.997768,RwEst=0.001240,RwEst=0.070883
Awz_X=85, Awz_Y=0, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst=0.997769,RwEst=0.001827,RwEst=0.070504
Awz_X=85, Awz_Y=1, tmpf=0.018293
app_read_sensor_data_timer_handler,*****RwEst=0.997945,RwEst=0.001789,RwEst=0.069888
Awz_X=86, Awz_Y=1, tmpf=0.006707
app_read_sensor_data_timer_handler,*****RwEst=0.997266,RwEst=0.002971,RwEst=0.064135
Awz_X=86, Awz_Y=2, tmpf=-0.009756
app_read_sensor_data_timer_handler,*****RwEst=0.998143,RwEst=0.003070,RwEst=0.064613
Awz_X=86, Awz_Y=2, tmpf=-0.039634
app_read_sensor_data_timer_handler,*****RwEst=0.997942,RwEst=0.003349,RwEst=0.064487
Awz_X=86, Awz_Y=2, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst=0.998270,RwEst=0.003072,RwEst=0.064282
Awz_X=86, Awz_Y=2, tmpf=0.001220
app_read_sensor_data_timer_handler,*****RwEst=0.998033,RwEst=0.003100,RwEst=0.063912
Awz_X=86, Awz_Y=2, tmpf=0.002439
app_read_sensor_data_timer_handler,*****RwEst=0.997779,RwEst=0.003178,RwEst=0.064493
Awz_X=86, Awz_Y=2, tmpf=-0.026829
app_read_sensor_data_timer_handler,*****RwEst=0.998031,RwEst=0.002954,RwEst=0.063611
Awz_X=86, Awz_Y=2, tmpf=-0.000610
app_read_sensor_data_timer_handler,*****RwEst=0.997760,RwEst=0.002992,RwEst=0.062906
Awz_X=86, Awz_Y=2, tmpf=-0.020732
app_read_sensor_data_timer_handler,*****RwEst=0.997969,RwEst=0.003058,RwEst=0.062165
Awz_X=86, Awz_Y=2, tmpf=-0.031707
app_read_sensor_data_timer_handler,*****RwEst=0.998079,RwEst=0.003039,RwEst=0.061530
Awz_X=86, Awz_Y=2, tmpf=-0.031098
app_read_sensor_data_timer_handler,*****RwEst=0.998675,RwEst=0.002709,RwEst=0.060959
Awz_X=86, Awz_Y=2, tmpf=-0.002439
app_read_sensor_data_timer_handler,*****RwEst=0.998168,RwEst=0.002552,RwEst=0.060488
Awz_X=86, Awz_Y=2, tmpf=-0.020122
app_read_sensor_data_timer_handler,*****RwEst=0.998272,RwEst=0.002785,RwEst=0.059133
Awz_X=86, Awz_Y=2, tmpf=-0.001220
app_read_sensor_data_timer_handler,*****RwEst=0.998628,RwEst=0.002930,RwEst=0.058394
Awz_X=86, Awz_Y=2, tmpf=-0.049390
app_read_sensor_data_timer_handler,*****RwEst=0.998322,RwEst=0.002543,RwEst=0.056819
Awz_X=86, Awz_Y=2, tmpf=-0.054268
app_read_sensor_data_timer_handler,*****RwEst=0.999132,RwEst=0.002437,RwEst=0.055508
Awz_X=86, Awz_Y=2, tmpf=0.013415
app_read_sensor_data_timer_handler,*****RwEst=0.998938,RwEst=0.002553,RwEst=0.054198
Awz_X=86, Awz_Y=2, tmpf=0.003049
app_read_sensor_data_timer_handler,*****RwEst=0.998596,RwEst=0.002610,RwEst=0.052495
Awz_X=87, Awz_Y=2, tmpf=0.011585
app_read_sensor_data_timer_handler,*****RwEst=0.998775,RwEst=0.002728,RwEst=0.051535
Awz_X=87, Awz_Y=3, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst=0.998985,RwEst=0.003079,RwEst=0.051405
Awz_X=87, Awz_Y=3, tmpf=-0.009756
app_read_sensor_data_timer_handler,*****RwEst=0.998648,RwEst=0.003357,RwEst=0.050294
Awz_X=87, Awz_Y=3, tmpf=0.015854
app_read_sensor_data_timer_handler,*****RwEst=0.998734,RwEst=0.003442,RwEst=0.049467
Awz_X=87, Awz_Y=3, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst=0.999089,RwEst=0.003358,RwEst=0.048225
Awz_X=87, Awz_Y=3, tmpf=0.003049
app_read_sensor_data_timer_handler,*****RwEst=0.999072,RwEst=0.003318,RwEst=0.048395
Awz_X=87, Awz_Y=3, tmpf=0.004268
app_read_sensor_data_timer_handler,*****RwEst=0.999113,RwEst=0.003212,RwEst=0.048238
Awz_X=87, Awz_Y=3, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst=0.999161,RwEst=0.002884,RwEst=0.047949
Awz_X=87, Awz_Y=3, tmpf=0.017683
app_read_sensor_data_timer_handler,*****RwEst=0.999114,RwEst=0.003024,RwEst=0.048139
Awz_X=87, Awz_Y=3, tmpf=0.009146
app_read_sensor_data_timer_handler,*****RwEst=0.998859,RwEst=0.002926,RwEst=0.048163
Awz_X=87, Awz_Y=3, tmpf=-0.033537
app_read_sensor_data_timer_handler,*****RwEst=0.998946,RwEst=0.002961,RwEst=0.047872
Awz_X=87, Awz_Y=3, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst=0.998977,RwEst=0.002872,RwEst=0.047647
Awz_X=87, Awz_Y=3, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst=0.999209,RwEst=0.003025,RwEst=0.047099
Awz_X=87, Awz_Y=3, tmpf=-0.019512
app_read_sensor_data_timer_handler,*****RwEst=0.999052,RwEst=0.003271,RwEst=0.046146
Awz_X=87, Awz_Y=4, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst=0.999344,RwEst=0.003552,RwEst=0.045682
Awz_X=87, Awz_Y=4, tmpf=-0.034756
app_read_sensor_data_timer_handler,*****RwEst=0.999047,RwEst=0.003245,RwEst=0.044880
Awz_X=87, Awz_Y=4, tmpf=0.020122
app_read_sensor_data_timer_handler,*****RwEst=0.999238,RwEst=0.003603,RwEst=0.044237
Awz_X=87, Awz_Y=4, tmpf=-0.010976
app_read_sensor_data_timer_handler,*****RwEst=0.998910,RwEst=0.003835,RwEst=0.043696
Awz_X=87, Awz_Y=5, tmpf=0.003659
app_read_sensor_data_timer_handler,*****RwEst=0.999546,RwEst=0.003889,RwEst=0.043325
Awz_X=87, Awz_Y=5, tmpf=-0.010366
app_read_sensor_data_timer_handler,*****RwEst=0.999281,RwEst=0.003889,RwEst=0.043042
Awz_X=87, Awz_Y=5, tmpf=-0.027439
app_read_sensor_data_timer_handler,*****RwEst=0.999374,RwEst=0.003580,RwEst=0.042021
Awz_X=87, Awz_Y=4, tmpf=0.011585
app_read_sensor_data_timer_handler,*****RwEst=0.999267,RwEst=0.004242,RwEst=0.040887
Awz_X=87, Awz_Y=5, tmpf=0.008537
app_read_sensor_data_timer_handler,*****RwEst=0.999371,RwEst=0.004291,RwEst=0.039870
Awz_X=87, Awz_Y=6, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst=0.999656,RwEst=0.004327,RwEst=0.039446
Awz_X=87, Awz_Y=6, tmpf=-0.025000
app_read_sensor_data_timer_handler,*****RwEst=0.999625,RwEst=0.004361,RwEst=0.038936
Awz_X=87, Awz_Y=6, tmpf=-0.012195
app_read_sensor_data_timer_handler,*****RwEst=0.999440,RwEst=0.004720,RwEst=0.037895
Awz_X=87, Awz_Y=7, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst=0.999496,RwEst=0.004453,RwEst=0.036967
Awz_X=87, Awz_Y=6, tmpf=0.004878
app_read_sensor_data_timer_handler,*****RwEst=0.999730,RwEst=0.004701,RwEst=0.036338
Awz_X=87, Awz_Y=7, tmpf=-0.007317
app_read_sensor_data_timer_handler,*****RwEst=0.999681,RwEst=0.004925,RwEst=0.036327
Awz_X=87, Awz_Y=7, tmpf=0.012805
app_read_sensor_data_timer_handler,*****RwEst=0.999684,RwEst=0.004883,RwEst=0.035767
Awz_X=87, Awz_Y=7, tmpf=-0.007317
app_read_sensor_data_timer_handler,*****RwEst=0.999415,RwEst=0.005119,RwEst=0.034917
Awz_X=88, Awz_Y=8, tmpf=0.012195
app_read_sensor_data_timer_handler,*****RwEst=0.999816,RwEst=0.004731,RwEst=0.035146
Awz_X=87, Awz_Y=7, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst=0.999590,RwEst=0.004701,RwEst=0.034091
Awz_X=88, Awz_Y=7, tmpf=-0.022561
app_read_sensor_data_timer_handler,*****RwEst=0.999842,RwEst=0.004847,RwEst=0.034117
Awz_X=88, Awz_Y=8, tmpf=-0.034756
app_read_sensor_data_timer_handler,*****RwEst=0.999751,RwEst=0.004777,RwEst=0.033430
Awz_X=88, Awz_Y=8, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst=0.999572,RwEst=0.004965,RwEst=0.032221
Awz_X=88, Awz_Y=8, tmpf=-0.009756
app_read_sensor_data_timer_handler,*****RwEst=0.999853,RwEst=0.004714,RwEst=0.031423
Awz_X=88, Awz_Y=8, tmpf=-0.034146
app_read_sensor_data_timer_handler,*****RwEst=0.999547,RwEst=0.004996,RwEst=0.029236
Awz_X=88, Awz_Y=9, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst=0.999399,RwEst=0.005361,RwEst=0.028362
Awz_X=88, Awz_Y=10, tmpf=-0.033537
app_read_sensor_data_timer_handler,*****RwEst=0.999599,RwEst=0.005438,RwEst=0.027508
Awz_X=88, Awz_Y=11, tmpf=-0.046951
app_read_sensor_data_timer_handler,*****RwEst=0.999398,RwEst=0.005344,RwEst=0.026228
Awz_X=88, Awz_Y=11, tmpf=0.020122
app_read_sensor_data_timer_handler,*****RwEst=1.000078,RwEst=0.005391,RwEst=0.025403
Awz_X=88, Awz_Y=11, tmpf=-0.008537
app_read_sensor_data_timer_handler,*****RwEst=1.000051,RwEst=0.005388,RwEst=0.024305
Awz_X=88, Awz_Y=12, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst=0.999877,RwEst=0.005608,RwEst=0.023050
Awz_X=88, Awz_Y=13, tmpf=-0.021951
app_read_sensor_data_timer_handler,*****RwEst=1.000059,RwEst=0.005806,RwEst=0.022218
Awz_X=88, Awz_Y=14, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst=0.999695,RwEst=0.006013,RwEst=0.020312
Awz_X=88, Awz_Y=16, tmpf=0.024390
app_read_sensor_data_timer_handler,*****RwEst=1.000175,RwEst=0.005982,RwEst=0.019931
Awz_X=88, Awz_Y=16, tmpf=-0.035976
app_read_sensor_data_timer_handler,*****RwEst=0.999917,RwEst=0.006227,RwEst=0.018821
Awz_X=88, Awz_Y=18, tmpf=-0.040244
app_read_sensor_data_timer_handler,*****RwEst=1.000331,RwEst=0.007010,RwEst=0.017425
Awz_X=89, Awz_Y=21, tmpf=0.005488
app_read_sensor_data_timer_handler,*****RwEst=1.000018,RwEst=0.007056,RwEst=0.016424
Awz_X=89, Awz_Y=23, tmpf=-0.003049
app_read_sensor_data_timer_handler,*****RwEst=1.000321,RwEst=0.007238,RwEst=0.015516
Awz_X=89, Awz_Y=25, tmpf=-0.003659
app_read_sensor_data_timer_handler,*****RwEst=0.999823,RwEst=0.007268,RwEst=0.014215
Awz_X=89, Awz_Y=27, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst=0.999907,RwEst=0.007333,RwEst=0.014179
Awz_X=89, Awz_Y=27, tmpf=-0.009146
app_read_sensor_data_timer_handler,*****RwEst=0.999930,RwEst=0.007545,RwEst=0.013037
Awz_X=89, Awz_Y=30, tmpf=-0.017683
app_read_sensor_data_timer_handler,*****RwEst=1.000541,RwEst=0.007376,RwEst=0.012785
Awz_X=89, Awz_Y=29, tmpf=-0.010976
app_read_sensor_data_timer_handler,*****RwEst=1.000059,RwEst=0.007363,RwEst=0.010881
Awz_X=89, Awz_Y=34, tmpf=-0.018902
app_read_sensor_data_timer_handler,*****RwEst=0.999878,RwEst=0.007401,RwEst=0.010214
Awz_X=89, Awz_Y=35, tmpf=-0.001220
app_read_sensor_data_timer_handler,*****RwEst=0.999995,RwEst=0.007706,RwEst=0.009993
Awz_X=89, Awz_Y=37, tmpf=0.004878
app_read_sensor_data_timer_handler,*****RwEst=1.000105,RwEst=0.008086,RwEst=0.009452
Awz_X=89, Awz_Y=40, tmpf=-0.032927
app_read_sensor_data_timer_handler,*****RwEst=1.000152,RwEst=0.007663,RwEst=0.008771
Awz_X=89, Awz_Y=41, tmpf=-0.015854
app_read_sensor_data_timer_handler,*****RwEst=1.000495,RwEst=0.007920,RwEst=0.007568
Awz_X=89, Awz_Y=46, tmpf=-0.042073
app_read_sensor_data_timer_handler,*****RwEst=1.000236,RwEst=0.007883,RwEst=0.005914
Awz_X=89, Awz_Y=53, tmpf=0.006098
app_read_sensor_data_timer_handler,*****RwEst=1.000445,RwEst=0.007927,RwEst=0.005326
Awz_X=89, Awz_Y=56, tmpf=-0.035366
app_read_sensor_data_timer_handler,*****RwEst=0.999920,RwEst=0.007984,RwEst=0.000342
Awz_X=89, Awz_Y=87, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst=1.000310,RwEst=0.007213,RwEst=-0.000199
Awz_X=90, Awz_Y=91, tmpf=-0.002439
app_read_sensor_data_timer_handler,*****RwEst=1.000368,RwEst=0.008129,RwEst=-0.000977
Awz_X=90, Awz_Y=96, tmpf=-0.028049
app_read_sensor_data_timer_handler,*****RwEst=1.000053,RwEst=0.008663,RwEst=-0.001985
Awz_X=90, Awz_Y=102, tmpf=-0.004268
app_read_sensor_data_timer_handler,*****RwEst=1.000521,RwEst=0.008265,RwEst=-0.001740
Awz_X=90, Awz_Y=101, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst=1.000165,RwEst=0.008277,RwEst=-0.003043
Awz_X=90, Awz_Y=110, tmpf=-0.031098
app_read_sensor_data_timer_handler,*****RwEst=1.000453,RwEst=0.007758,RwEst=-0.004518
Awz_X=90, Awz_Y=120, tmpf=-0.018902
app_read_sensor_data_timer_handler,*****RwEst=1.000229,RwEst=0.007526,RwEst=-0.005668
Awz_X=90, Awz_Y=126, tmpf=-0.034756
app_read_sensor_data_timer_handler,*****RwEst=1.000092,RwEst=0.007610,RwEst=-0.007092
Awz_X=90, Awz_Y=132, tmpf=-0.021951
app_read_sensor_data_timer_handler,*****RwEst=1.000346,RwEst=0.007714,RwEst=-0.007423
Awz_X=90, Awz_Y=133, tmpf=-0.020122
app_read_sensor_data_timer_handler,*****RwEst=1.000347,RwEst=0.007178,RwEst=-0.008975
Awz_X=90, Awz_Y=141, tmpf=-0.011585
app_read_sensor_data_timer_handler,*****RwEst=1.000006,RwEst=0.007304,RwEst=-0.009855
Awz_X=90, Awz_Y=143, tmpf=-0.027439
app_read_sensor_data_timer_handler,*****RwEst=1.000042,RwEst=0.007156,RwEst=-0.011051
Awz_X=90, Awz_Y=147, tmpf=-0.000610
app_read_sensor_data_timer_handler,*****RwEst=1.000277,RwEst=0.007063,RwEst=-0.012012
Awz_X=90, Awz_Y=149, tmpf=-0.004268
app_read_sensor_data_timer_handler,*****RwEst=1.000287,RwEst=0.007105,RwEst=-0.012906
Awz_X=90, Awz_Y=151, tmpf=-0.021951
app_read_sensor_data_timer_handler,*****RwEst=0.999723,RwEst=0.007188,RwEst=-0.014132
Awz_X=90, Awz_Y=153, tmpf=-0.014024
app_read_sensor_data_timer_handler,*****RwEst=0.999773,RwEst=0.006838,RwEst=-0.015797
Awz_X=90, Awz_Y=156, tmpf=0.002439
app_read_sensor_data_timer_handler,*****RwEst=1.000332,RwEst=0.007051,RwEst=-0.016184
Awz_X=90, Awz_Y=156, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst=1.000590,RwEst=0.007095,RwEst=-0.017065
Awz_X=90, Awz_Y=157, tmpf=0.010976
app_read_sensor_data_timer_handler,*****RwEst=1.000043,RwEst=0.007340,RwEst=-0.018642
Awz_X=91, Awz_Y=158, tmpf=0.009756
app_read_sensor_data_timer_handler,*****RwEst=1.000504,RwEst=0.007453,RwEst=-0.019483
Awz_X=91, Awz_Y=159, tmpf=-0.012195
app_read_sensor_data_timer_handler,*****RwEst=1.000071,RwEst=0.007995,RwEst=-0.021469
Awz_X=91, Awz_Y=159, tmpf=-0.042073
app_read_sensor_data_timer_handler,*****RwEst=1.000316,RwEst=0.008196,RwEst=-0.022938
Awz_X=91, Awz_Y=160, tmpf=-0.001220
app_read_sensor_data_timer_handler,*****RwEst=0.999861,RwEst=0.008547,RwEst=-0.023488
Awz_X=91, Awz_Y=160, tmpf=0.005488
app_read_sensor_data_timer_handler,*****RwEst=1.000117,RwEst=0.008677,RwEst=-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？ 当Awz_X继续旋转到96°时，Awz_Y基本保持在160~180°之间，相对稳定；所以目前的变化主要是在Awz_X旋转角度在86°~96°之间时，另一个角度Awz_Y为什么变化这么大呢？
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