对于时间周期长于半秒，加速度的均值相对于陀螺仪占得比重更大，这时可能会有漂移。
For time periods longer than half a second, the accelerometer average is given more weighting than the gyroscope, which may have drifted by this point.
对于时间周期长于半秒，加速度的均值相对于陀螺仪占得比重更大，这时可能会有漂移。
The change in position is just the speed of the car multiplied by the time since the last tick, which you can get from the timers on the microcontroller or some other known timer.
做的非常好的摆荡相对地面是固定的，位置不会发生漂移；
By this I mean you don't move forward over the ground while doing the wing-overs.
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