树莓派驱动6轴传感器MPU6500与SPI初体验(三) -串口姿态显示

          通过dmp获取到四元数后，对四元数进行归一化:

  void quaternionNormalize(Quaternion *quaternion){
          float magnitude;
  
          magnitude = sqrtf((quaternion->x * quaternion->x) +
          (quaternion->y * quaternion->y) +
          (quaternion->z * quaternion->z) +
          (quaternion->w * quaternion->w));
  
          quaternion->x /= magnitude;
          quaternion->y /= magnitude;
          quaternion->z /= magnitude;
          quaternion->w /= magnitude;
  }

          通过串口发送到上位机,上位机是用C#+csgl写的，姿态显示正确: