RollPitchYaw.py 文件源码

def calcRoll(self, accel):
        x = accel[0]
        y = accel[1]
        z = accel[2]
        try:
            phi = math.atan(y / z)
        except:
            if y > 0:
                phi = 1.0
            else:
                phi = -1.0
        return phi