如何使用python和multiwii串行协议校准mpu6050传感器？

import serial
import numpy as np

# 初始化串行通信
ser = serial.Serial('/dev/ttyUSB0', 115200)

# 读取传感器数据
def read_sensor_data():
    ser.write(b'r')  # 发送读取命令
    data = ser.readline().decode().strip().split(',')
    if len(data) == 6:
        return [float(x) for x in data]
    return None

# 校准函数
def calibrate_sensor(samples=100):
    accel_data = []
    gyro_data = []
    for _ in range(samples):
        data = read_sensor_data()
        if data:
            accel_data.append(data[:3])
            gyro_data.append(data[3:])
    
    accel_data = np.array(accel_data)
    gyro_data = np.array(gyro_data)
    
    # 计算偏移量和比例因子
    accel_offset = np.mean(accel_data, axis=0)
    gyro_offset = np.mean(gyro_data, axis=0)
    
    return accel_offset, gyro_offset

# 执行校准
accel_offset, gyro_offset = calibrate_sensor()

print(f'Accelerometer Offset: {accel_offset}')
print(f'Gyroscope Offset: {gyro_offset}')