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;

}