Attitude sensor-MPU6050-Kalman/DMP attitude solution

Very useful little project! ! !
MPU6050 is a six-axis attitude sensor, so it can measure acceleration and gyroscope data during attitude calculation. Generally, the following two methods are used to obtain attitude calculation angle data:
1. Using the built-in DMP, the benefits are obvious: DMP is easy to use , you can directly apply the official library, which will not occupy a lot of resources, but there are also disadvantages: that is, the angle data is unstable and is not suitable for high-precision sensing scenarios.
2. Use Kalman filtering. Advantages: The data is extremely stable, and the static angle measured by myself is +-0.5°. Disadvantages: It consumes external resources, and due to the principle of accelerometer, it is destined to be unable to measure the yaw angle.
Summary: If you need two-digit data, choose Kalman, if you need three-dimensional data, choose DMP;
what is this?
This is a small module based on STM32C6T6 and MPU6050. It is very similar to the GY-521 module bought on a certain treasure. It can also be understood that this is a 50+ packaged module on a certain treasure. The DIY cost here is about ten dozen Done in one block! The angles of the two axes of the Kalman filter can be output directly through UART, and the SPI interface is also reserved, which has not been developed yet (busy retesting, more later). It integrates DMP and Kalman methods internally, and reserves a macro to select the method. Please see the source code comments for details. Tested using Kalman, it is very stable! The principle is similar to this:
Code link: github: https://github.com/HAPLIFE6/MPU6050_KF_DMP Baidu network disk: Link: https://pan.baidu.com/s/1qZKDx-1e67jWvfxJcayctA?pwd=1209 Extraction code: 1209
The PCB design is as shown in the figure (very small, developed according to the GY521 module, four-layer board, special attention needs to be paid when welding MPU6050, try to use steel mesh + hot air gun):