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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?

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发表于 2016-11-22 11:20:33 | 显示全部楼层 |阅读模式

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[0](即Awz_X)也准确接近86度,此时另一个角度Awz[1](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[1](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]=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?
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 楼主| 发表于 2016-11-22 14:45:12 | 显示全部楼层
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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