IMU orientation Filter developed by Sebastian Madgwick(IMU数据融合)
一篇写的非常好的解析:MadgwickIMUFilterIMUDataFusing:Complementary,Kalman,andMahonyFilter关于Madgwick算法的介绍:Madgwick算法(上)Madgwick算法(下)欧拉角、四元数和旋转矩阵macrodefs.h代码(主要是宏定义):#ifndefMACRODEFS_H#defineMACRODEFS_H//CANFrame