功能mpu6050内部自带DMP实现姿态解算算法，采用的单片机是msp430，-DMP achieve functional mpu6050 own internal attitude solver algorithm, using the microcontroller is msp430,

MPU6050采集数据。加融合算法，通过51串口发送给上位机。自带注释-MPU6050 data acquisition. And the fusion algorithm, through the 51 serial port to send to the host computer. Take notes

完成mpu6050的姿态角解算，包括卡尔曼，一阶以及二阶滤波算法-caculate the angels of the mpu6050