谁用过HMC5883L这个传感器对MPU6050的yaw进行校正

你说的GPS双定位模块是指GPS+北斗定位模块吧，应用于无人机的双模定位模块有很多

比如专用于无人机的GPS模块+天线一体化定位模块SKM56、SKM66，以及SKG12D都支持GPS+北斗双模定位。

其中SKG12D内建地磁传感功能，SKM66内置霍尼韦尔地磁传感器HMC5883L，定位精准抗干扰

准备工作

一台 PC

IAR Embedded Workbench 集成开发环境，可以用30天试用版本。

支持 蓝牙 40 的智能手机一部，并安装下列应用之一

Android Google Play Store

iPhone App Store

CC2540 开发板

CCDebugger 下载器

创建 iBeacon 工程文档

安装 TI 官方的 CC254x 开发环境

复制 C:\Texas Instruments\BLE-CC254x-132\Projects\ble\SimpleBLEBroadcaster 文件夹

粘贴到：C:\Texas Instruments\BLE-CC254x-132\Projects\ble\iBeacon

运行 IAR Embedded Workbench，点击 File > Open > Workspace

修改源代码

simpleBLEBroadcasterc

// GAP - Advertisement data (max size = 31 bytes, though this is

// best kept short to conserve power while advertisting)

static uint8 advertData[] =

{

// Flags; this sets the device to use limited discoverable

// mode (advertises for 30 seconds at a time) instead of general

// discoverable mode (advertises indefinitely)

0x02, // length of this data

GAP_ADTYPE_FLAGS,

GAP_ADTYPE_FLAGS_BREDR_NOT_SUPPORTED,

// three-byte broadcast of the data "1 2 3"

0x04, // length of this data including the data type byte

GAP_ADTYPE_MANUFACTURER_SPECIFIC, // manufacturer specific advertisement data type

1,

2,

3

};

修改下面关键字

UID: E2C56DB5-DFFB-48D2-B060-D0F5A71096E0

Major: 1 (0x0001)

Minor: 1 (0x0001)

Measured Power: -59 (0xc5)

// GAP - Advertisement data (max size = 31 bytes, though this is

// best kept short to conserve power while advertisting)

static uint8 advertData[] =

{

// 25 byte ibeacon advertising data

// Preamble: 0x4c000215

// UUID: E2C56DB5-DFFB-48D2-B060-D0F5A71096E0

// Major: 1 (0x0001)

// Minor: 1 (0x0001)

// Measured Power: -59 (0xc5)

0x1A, // length of this data including the data type byte

GAP_ADTYPE_MANUFACTURER_SPECIFIC, // manufacturer specific advertisement data type

0x4c,

0x00,

0x02,

0x15,

0xe2,

0xc5,

0x6d,

0xb5,

0xdf,

0xfb,

0x48,

0xd2,

0xb0,

0x60,

0xd0,

0xf5,

0xa7,

0x10,

0x96,

0xe0,

0x00,

0x01,

0x00,

0x01,

0xc5

};

接下来修改广播类型，将下面代码

//uint8 advType = GAP_ADTYPE_ADV_NONCONN_IND;// use non-connectable advertisements

uint8 advType = GAP_ADTYPE_ADV_DISCOVER_IND; // use scannable unidirected advertisements

修改为

uint8 advType = GAP_ADTYPE_ADV_NONCONN_IND; // use non-connectable advertisements

//uint8 advType = GAP_ADTYPE_ADV_DISCOVER_IND; // use scannable unidirected advertisements

接下来修改 GAP

// Set the GAP Role Parameters

GAPRole_SetParameter( GAPROLE_ADVERT_ENABLED, sizeof( uint8 ), &initial_advertising_enable );

GAPRole_SetParameter( GAPROLE_ADVERT_OFF_TIME, sizeof( uint16 ), &gapRole_AdvertOffTime );

GAPRole_SetParameter( GAPROLE_SCAN_RSP_DATA, sizeof ( scanRspData ), scanRspData );

GAPRole_SetParameter( GAPROLE_ADVERT_DATA, sizeof( advertData ), advertData );

GAPRole_SetParameter( GAPROLE_ADV_EVENT_TYPE, sizeof( uint8 ), &advType );

因为 iBeacon 必须不间断广播，并且不响应任何数据请求，所以我们要修改 GAPROLE_ADVERT_OFF_TIME 和 GAPROLE_SCAN_RSP_DATA。

// Set the GAP Role Parameters

GAPRole_SetParameter( GAPROLE_ADVERT_ENABLED, sizeof( uint8 ), &initial_advertising_enable );

//GAPRole_SetParameter( GAPROLE_ADVERT_OFF_TIME, sizeof( uint16 ), &gapRole_AdvertOffTime );

//GAPRole_SetParameter( GAPROLE_SCAN_RSP_DATA, sizeof ( scanRspData ), scanRspData );

GAPRole_SetParameter( GAPROLE_ADVERT_DATA, sizeof( advertData ), advertData );

GAPRole_SetParameter( GAPROLE_ADV_EVENT_TYPE, sizeof( uint8 ), &advType );

保存工程后，进行编译，并通过 CCDebugger 下载程序到开发板中。

Select Project > Clean to clean the project

Select Project > Make to make the project

Select Project > Download and Debug to send the code to the CC2540 Key Fob

Select Debug > Go to Run the code on the CC2540 Key Fob

BLE iBeacon

TI Displayport ESD Protection – TPD8S009

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