此更改更改了imu数据处理方式，使得静止状态yaw不会发生偏移，后续应优化陀螺仪数据处理：低通滤波会导致相位延迟、滑动窗口会导致数据有微量误差。

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无法避免运动过程中的yaw偏移。
后续应在运动时也加上零漂偏移

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2026-06-23 22:34:15 +08:00

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29 changed files with 9433 additions and 391 deletions

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