该代码是三轴加速度传感器代码，功能强大，可测量角速度值和加速度值，并能测出yaw角，row角和pitch角。-The code is a three-axis accelerometer code, powerful, measurable angular velocity values and acceleration values, and can measure the yaw angle, row angle and pitch angle.

基于stm32的mpu6050姿态解算，yaw角数据没有进行处理，可以开发平衡车或进一步融合九轴数据完善yaw角数据进行四轴开发-Based on the mpu6050 STM32 attitude solution, yaw angle data is not processed, you can develop a balanced car or further integration of the nine axis data to improve the yaw angle data

卡尔曼滤波算法融合9轴传感器（MPU6050 + HMC5883 ） 的原始数据，给出准确的滚转、俯仰和偏航角度信息。(The Calman filtering algorithm combines the original data of 9 axis sensors (MPU6050 + HMC5883) and gives accurate information of roll, pitch and yaw angle.)