Windows (x86, 32-bit)

import serialimport timeimport math# 串口设置，替换为实际COM口ser = serial.Serial('COM3', 115200, timeout=1)alpha = 0.98pitch = 0.0roll = 0.0dt = 0.01try:    while True:        line = ser.readline().decode().strip()        if not line:            continue        # 假设串口发过来的格式是：ax,ay,az,gx,gy,gz        data = line.split(',')        if len(data) != 6:            continue        ax, ay, az, gx, gy, gz = map(float, data)        # 计算加速度角度        acc_pitch = math.degrees(math.atan2(ay, math.sqrt(ax*ax + az*az)))        acc_roll = math.degrees(math.atan2(-ax, az))        # 互补滤波融合陀螺仪角速度（单位假设已转换为deg/s）        pitch = alpha * (pitch + gx * dt) + (1 - alpha) * acc_pitch        roll = alpha * (roll + gy * dt) + (1 - alpha) * acc_roll        print(f"Pitch: {pitch:.2f}, Roll: {roll:.2f}")        time.sleep(dt)except KeyboardInterrupt:    ser.close()php871 Bytes© 菜鸟-创作你的创作