可以输出角度，加速度，角速度的数值,可以用于制作平衡车，和姿势解算仪-be able to record the angle,accelerate,and to find out wheather you are in right angle

陀螺仪姿态解算- Gyro attitude calculation

在Arduino IDE编译环境下，用四元数法进行姿态解算。四元数法具有计算量小的优点，相比欧拉角法，省去了姿态转换矩阵的计算。(In the Arduino IDE compiler environment, four element method is used to solve the pose problem. The four element method has the advantage of small computation. Compared with Euler angle