请问yaw角指向哪个方向是0°？

忘了说还有，我调用了应美盛的motion_driver_6.12的dmp库，但是得到的yaw角还是有漂移，平均四分钟漂一度，pitch和roll都很稳定，请问是不是在配置dmp库中有什么问题呢？
配置如下：[C] 纯文本查看 复制代码
bool MPU9150_Conf(void){int result=0;result=mpu_init();if(!result){#if defined MPU6050 || defined MPU6500result = mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL);//mpu_set_sensorresult |= mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);//mpu_configure_fifo#elif defined MPU9150 || defined MPU9250result = mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS);result |= mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS);#endifresult |= mpu_set_sample_rate(DEFAULT_MPU_HZ);     //mpu_set_sample_rateresult |= dmp_load_motion_driver_firmware();     //dmp_load_motion_driver_firmvareresult |= dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));//dmp_set_orientationresult |= dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |    DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |    DMP_FEATURE_GYRO_CAL);     //dmp_enable_featureresult |= dmp_set_fifo_rate(DEFAULT_MPU_HZ);  //dmp_set_fifo_raterun_self_test();//run_self_testresult |= mpu_set_dmp_state(1);}return result;}

我用9250,初始化放的位置,就是0位置.

原子哥的航向角yaw会漂移吗？

9250不会。
6050会。