MPU6050陀螺仪和加速度计的校准

加速度计和陀螺仪的校准：

在传感器静止不动水平放置时，测出陀螺仪和加速度计各轴的偏移值，保存。以后每次上电调用dmp_set_xx_bias()就行了。

u8 run_self_test(void)

{

    int result;

    //char test_packet[4] = {0};

    long gyro[3], accel[3];

    result = mpu_run_self_test(gyro, accel);

    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;

}