accYangle = (atan2(accX,accZ)+PI)*RAD_TO_DEG;为什么这样解算还不太明白，我和还看到有人这样解算不明白它们的区别？
if(ACC_AVG.X>0)
{
Acc_angle = atan2((float)ACC_AVG.Y,(float)ACC_AVG.Z)*(180/3.14159265);
}
else
{
Acc_angle = atan2((float)ACC_AVG.Z,(float)ACC_AVG.Y)*(180/3.14159265)-90;
Acc_angle = -Acc_angle;
}
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