roouu 发表于 2012-11-30 13:04 
我对arduino比较熟悉,经常用它,最近diy了一块mwc飞控,做了一个两轴,但是老是前后方向晃悠,调了很久pid ...
你这应该是加速传感ACC与陀螺传感GYRO方向不对,修改一下XYZ,前面加“-”号为反向:
#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = X; accADC[PITCH] = Y; accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -Y; gyroADC[PITCH] = X; gyroADC[YAW] = Z;}
下面是罗盘传感:
#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = Z;}
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