IMU.py 文件源码

def calc_roll():

    """ Calculates roll value """

    acc_x = read_acc_x()
    acc_y = read_acc_y()
    acc_z = read_acc_z()

    acc_y_norm = acc_y / math.sqrt(acc_x * acc_x + acc_y * acc_y + acc_z * acc_z)

    try:
        roll = -math.asin(acc_y_norm / math.cos(calc_pitch()))
        return roll

    except Exception as e:
        logging.debug(e)
        return 0