（二）IMU姿态融合可视化

1. 下载Arduino IDE

2. 在IDE 的 Board->Boardsmagner处下载Nano 33的依赖

3. 在Tool->Manage LIbraries处下载LSM9DS1库，以及SensorFusioin库

4. 结合两个库的Example进行复制粘贴：

#include <Arduino_LSM9DS1.h> . // this is for IMU on BLE 33
#include "SensorFusion.h" //SF
SF fusion;

float gx, gy, gz, ax, ay, az, mx, my, mz;
float pitch, roll, yaw;
float deltat;

void setup() {
  Serial.begin(115200); 
  if (!IMU.begin()) {
    Serial.println("Failed to initialize IMU!");
    while (1);
  }
 
}

void loop() {
  
  // now you should read the gyroscope, accelerometer (and magnetometer if you have it also)
  // NOTE: the gyroscope data have to be in radians
  // if you have them in degree convert them with: DEG_TO_RAD example: gx * DEG_TO_RAD

  if (IMU.accelerationAvailable() && IMU.gyroscopeAvailable()&& IMU.magnetAvailable()) {
    IMU.readAcceleration(ax, ay, az);
    IMU.readGyroscope(gx, gy, gz);
    IMU.readMagneticField(mx, my, mz);
    float gyroScale =3.1415926f / 180;
    gx = gx * gyroScale;
    gy = gy * gyroScale;
    gz = gz * gyroScale;

 
  deltat = fusion.deltatUpdate(); //this have to be done before calling the fusion update
  //choose only one of these two:
//  fusion.MahonyUpdate(gx, gy, gz, ax, ay, az, deltat);  //mahony is suggested if there isn t the mag and the mcu is slow
  fusion.MadgwickUpdate(gx, gy, gz, ax, ay, az, mx, my, mz, deltat);  //else use the magwick, it is slower but more accurate

  pitch = fusion.getPitchRadians();
  roll = -fusion.getRollRadians();    //you could also use getRollRadians() etc
  yaw = fusion.getYawRadians();

 Serial.print(pitch); 
 Serial.print(":");
 Serial.print(roll); 
 Serial.print(":");
 Serial.println(yaw);
  }
} 

5. 复制粘贴，上传到Arduino
6. 下载安装Processing, 复制粘贴SensorFusion库的代码就能运行啦~