所使用的设备

本文使用Arduino Uno开发板连接MPU9250传感器，并获取传感器加速度和陀螺仪数据。

• Arduino Uno
• MPU9250
• 连线方式

MPU9250	Arduino
3.3V	VCC
GND	GND
A4	SDA
A5	SCL

前期准备

• 下载MPU9250相关库

编写代码--获取姿态角（Roll、Yaw、Pitch）

#include "MPU9250.h"

MPU9250 mpu;

void setup() {
    Serial.begin(115200);
    Wire.begin();
    delay(2000);

    if (!mpu.setup(0x68)) {  // change to your own address
        while (1) {
            Serial.println("MPU connection failed. Please check your connection with `connection_check` example.");
            delay(5000);
        }
    }
}

void loop() {
    if (mpu.update()) {
        static uint32_t prev_ms = millis();
        if (millis() > prev_ms + 25) {
            print_roll_pitch_yaw();
            prev_ms = millis();
        }
    }
}

void print_roll_pitch_yaw() {
    Serial.print("Yaw, Pitch, Roll: ");
    Serial.print(mpu.getYaw(), 2);
    Serial.print(", ");
    Serial.print(mpu.getPitch(), 2);
    Serial.print(", ");
    Serial.println(mpu.getRoll(), 2);
}

串口输出