修复MPU9250输出角度

2.Firmware/GeekTrack/components/GeekHAL/HAL/HAL_IMU.cpp

@@ -41,7 +41,14 @@ void IMU_Update()
 
     imu.steps = Pedometer_Update(imu.ax, imu.ay, imu.az);
 
-    printf("%.2f, %.2f, %.2f\n", imu.acc[0], imu.acc[1], imu.acc[2]);
+    /* Sensor Debug. */
+    float yaw = 0.0f, pitch = 0.0f, roll = 0.0f;
+    MPU9250_GetEulerAngles(&yaw, &roll, &pitch);
+
+    printf("%.2f, %.2f, %.2f\n", yaw, roll, pitch);
+    //printf("%.2f, %.2f, %.2f\n", imu.acc[0], imu.acc[1], imu.acc[2]);
+    //printf("%.2f, %.2f, %.2f\n", imu.gyr[0], imu.gyr[1], imu.gyr[2]);
+
     if (CommitFunc)
     {
         CommitFunc(&imu, UserData);

2.Firmware/GeekTrack/components/Libraries/src/mpu9250.c

@@ -107,9 +107,9 @@ void MPU9250_GetEulerAngles(float* yaw,float* roll, float* pitch)
     mpu9250.yaw   = atan2(q2*q1 + q0*q3,0.5f - q2*q2 - q3*q3); // * (180.0f /3.141592f);
     mpu9250.roll  = atan2(q2*q3 + q0*q1,0.5f - q2*q2 - q1*q1); //* (180.0f /3.141592f);
 
-	mpu9250.yaw   = (180.0f / 3.141592f);
+	mpu9250.yaw   *= (180.0f / 3.141592f);
-	mpu9250.roll  = (180.0f / 3.141592f);
+	mpu9250.roll  *= (180.0f / 3.141592f);
-	mpu9250.pitch = (180.0f / 3.141592f);
+	mpu9250.pitch *= (180.0f / 3.141592f);
 
 	*yaw   = mpu9250.yaw;   
 	*roll  = mpu9250.roll;