Mpu9250 ky9250 attitude, angle module and mpu9250 MPL DMA comparison

        I finally found it on the Internet stm32f407 Of mpu9250 official mpl /dma Solution code , Hard debugging passed , The heading angle is found during the time measurement yaw Serious drift , Check the information for official use mpl The module must be painted in the air after being powered on 8 word , So draw in the air according to the document 8 Time , Dancing 60 many times , My hand hurts , finally yaw It's right , The module turns several times in the air and returns to its original position yaw The angle is the same as the original , It should be the magnetometer that works . So we went on to experiment , Keep the module in place （yaw The course remains unchanged ） Variable pitch pitch or roll angle , It's good at first ,yaw Not affected roll,pitch The impact of change , Then I took out my mobile phone and turned on the compass app, Find the north-south axis . Repeat in the north-south axis （ The module does not rotate in place （yaw The course remains unchanged ） Variable pitch pitch or roll angle ）, I'm so disappointed ,yaw suffer roll,pitch The serious impact of , official invensense inc Can't even handle this well , We still have technical reservations , because mpl Not open source ,keil You can't jump to mpl Built in functions , The specific problem is unknown .

        Second power on , I don't know why , The magnetic data calibrated last time is gone , Dance again , Passed , A few minutes later, the calibrated magnetic data disappeared again . Forget it , I still use my own written posture to solve mpu9250 Module bar .

1、 Serial output 9 Axis gyroscope gx,gy,gz, Accelerometer ax,ay,az, Geomagnetic meter mx,my,my And Euler angle （roll,pitch,yaw） I made the finished board without drift （ contain mpu9150/9250 Module and serial communication ） To readers , The second algorithm has been written on the finished board , Readers can find it in arduion or stm32 Call me to write the example of the serial data analysis function. , Can get stable 3 Axis data , In precision 3 Axis index 0.05%, Reached a high level of accuracy , It can be applied to power equipment monitoring 、 Fixed wing drones 、 Industrial robot control 、 agricultural machinery , Medical apparatus and instruments , Engineering machinery , Smart car , Geological monitoring .

2、 I wrote all the algorithm code myself , Do not call chip manufacturer mpl library , In the future, some manufacturers will not provide chips , Just change the chip transplant code from another manufacturer .

3、 Provide 9 Axis gyroscope gx,gy,gz, Accelerometer ax,ay,az, Geomagnetic meter mx,my,my And Euler angle （roll,pitch,yaw） and p0,p1,p2,p3 4 Element number Stable serial port output data without drift , Embedded Kalman filter , Provide arduion or stm32 Access example program , Readers can directly use , Reduce programming workload and debugging workload , Save your development time .
 

17 position ky9250 software package （ There are stm32\arduino\C#\Matlab\ raspberry \Unity3d\python   Visit examples ）

link ：https://pan.baidu.com/s/1P30OFfaSujQw88ZQwnNqPw 
Extraction code ：abcd