From 6659b305cff70a1aa8d132bfee8af844a2527d1c Mon Sep 17 00:00:00 2001
From: tangliufeng <137513285@qq.com>
Date: Sat, 9 Jan 2021 12:33:30 +0800
Subject: [PATCH] =?UTF-8?q?mpython.py:=20Accelerometer=E7=B1=BB=E6=B7=BB?=
 =?UTF-8?q?=E5=8A=A0=E6=AC=A7=E6=8B=89=E8=A7=92=E8=AE=A1=E7=AE=97?=
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---
 port/boards/mpython/modules/mpython.py | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/port/boards/mpython/modules/mpython.py b/port/boards/mpython/modules/mpython.py
index 5a7c4ec6..7df73447 100755
--- a/port/boards/mpython/modules/mpython.py
+++ b/port/boards/mpython/modules/mpython.py
@@ -335,6 +335,20 @@ def get_z(self):
         else:
             raise Exception("i2c read/write error!")
 
+    def roll_pitch_angle(self):
+        x, y, z = self.get_x(), self.get_y(), -self.get_z()
+        # vector normalize
+        mag = math.sqrt(x ** 2 + y ** 2+z ** 2)
+        x /= mag
+        y /= mag
+        z /= mag
+        roll = math.degrees(-math.asin(y))
+        pitch = math.degrees(math.atan2(x, z))
+
+        return roll, pitch
+
+
+
 # 3 axis accelerometer
 accelerometer = Accelerometer()