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注意配置外部中断 注意配置gpio 和nvic控制器
STM32与BMI088(MPU6050也是类似的)为平台,使用结合MahonyAHRS姿态融合算法,融合加速度计、磁力计、陀螺仪数据解算出表征姿态的四元数与欧拉角
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