MPU9250驱动代码

# stm32f4_mpu9250 Access the data of 3-axis magnetometer and DMP from MPU9250 with SPI interface All data fusion (including the data of dmp output, such as the accelerometer data, gyroscope, 6-axis quaternion and internal magnetometer data) via a 7-state, 13-mesurement EKF(Extended Kalman filter) / Unscented Kalman Filter(UKF) / Cubature Kalman Filters (CKF) Algorithm / Square-Root Cubature Kalman Filters (SRCKF) Algorithm. 1.kalman feature: prediction state: q0 q1 q2 q3 wx wy wz mesurement:q0 q1 q2 q3(q0~q3 from dmp ouput) ax ay az wx wy wz mx my mz 2.Add a miniIMU for doctor's miniQuadrotor add a new fixed-point ekf algorithm for doctor's miniQuadrotor please check the miniIMU directory at the root and look the usage.txt for using! 3.Add a win32 application for serial port communication calibraion for accelerometer, gyroscope, magnetometer please check the "Calibration App" directory at the root 4.Add a miniAHRS for 9-axis fusion, such as ax ay az wx wy wz mx my mz form accelerometer,gyroscope,magnetometer 7-state ekf algorithm: quaternion and 3-axis gyroscope bais 3-mesurement for accelerometer 3-mesurement for magnetometer 5.Add a GPS/ins implement via ekf fusion algorithm 16-state ekf algorithm: 4 quaternion, 3D postion, 3D velocity, 3-axis gyroscope bais and 3-axis accelerometer bais 9-mesurement for magnetometer, 3D postion and 3D velocity from gps and barometer 6.Other stuff add ms5611 spi driver using 4-order Runge_Kutta to slove the quaternion differential equation. 7.Add a 9-axis sensor fusion with square-root cubature Kalman filter for testing 7-state srckf algorithm: quaternion and 3-axis gyroscope bais 6-mesurement for accelerometer, magnetometer ouput 8.add ublox-m8n uart4 driver 9.Emulated double precision Double single routine