陀螺仪初始化不为0解决办法

正点原子陀螺仪初始化不为0解决办法

ctrl+f 查找 mpu_run_self_test 到如下代码段

if (result == 0x3) 
	{
		/* Test passed. We can trust the gyro data here, so let's push it down
		* to the DMP.
		*/
		float sens;
		unsigned short accel_sens;
		mpu_get_gyro_sens(&sens);
		gyro[0] = (long)(gyro[0] * sens);
		gyro[1] = (long)(gyro[1] * sens);
		gyro[2] = (long)(gyro[2] * sens);
		dmp_set_gyro_bias(gyro);
		mpu_get_accel_sens(&accel_sens);
		accel[0] *= accel_sens;
		accel[1] *= accel_sens;
		accel[2] *= accel_sens;
		dmp_set_accel_bias(accel);
		return 0;
	}else return 1;
}
#`在这里插入代码片`注释其中的
//		mpu_get_accel_sens(&accel_sens);
//		accel[0] *= accel_sens;
//		accel[1] *= accel_sens;
//		accel[2] *= accel_sens;
//		dmp_set_accel_bias(accel);