基于stm32的MPU6050收读取和模拟IIC 陀螺仪初始化配置，陀螺仪三轴加速度算法处理，俯仰角，航向角等四轴飞行器参数读取与显示。(MPU6050 receive, read, and simulate IIC based on stm32 Gyroscope initialization configuration, gyroscope three axis acceleration algorithm, pitch angle, heading angle and other fo