fix:倒置云台底座时云台漂移问题#1
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主要是由于AHRS算法预设了重力方向为z轴正方向,
MahonyAHRS.h->update()->
// Estimated direction of gravity and vector perpendicular to magnetic flux
halfvx = q[1] * q[3] - q[0] * q[2];
halfvy = q[0] * q[1] + q[2] * q[3];
halfvz = q[0] * q[0] - 0.5f + q[3] * q[3];
是通过预设重力方向[0,0,1]计算出的公式