English — A 2-axis (roll + pitch) self-stabilizing gimbal on STM32F103. Attitude is estimated with a Mahony quaternion complementary filter; a position loop outputs a torque voltage Uq, which is ...
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本文深入剖析MPU6050中加速度计与陀螺仪的物理本质：加速度计作为重力矢量静态解码器，在动态时因运动加速度干扰而失效；陀螺仪输出角速度，积分后易受零偏累积导致漂移。文章系统阐述坐标系绑定、小角度线性化、零偏校准、动态矢量失真等关键问题，并对比卡尔曼滤波与互补滤波在嵌入式 ...
3.3 串口出波形：用 VOFA+ 或 SerialPlot 看滤波前后对比 烧录之后，你需要把滤波前后的数据同时发到串口，才能判断滤波器有没有起作用。 下面这段代码用两个通道发送原始值和滤波值，格式为「原始值,滤波值\n」。
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