Revision 12:6a3c0e9075eb, committed 2019-03-10

Comitter:

sashida_h

Date:

Sun Mar 10 11:47:23 2019 +0000

Parent:

11:c90db1500720

Child:

13:3e6411bfd581

Commit message:

2019_0310_2047

Changed in this revision

--- a/main.cpp	Sun Mar 10 08:17:44 2019 +0000
+++ b/main.cpp	Sun Mar 10 11:47:23 2019 +0000
@@ -65,9 +65,7 @@
     }
     alt_gnd = _median(alt_buff,NUM_CNT_MEDIAN);
     wait(2.0);
-    pc.printf("Hello World!\r\n");
-    wait(1.0);
-    pc.printf("f:Flight_mode_on\r\n");
+    pc.printf("0,0,0,0,0\r\n");
     wait(1.0);
     timer_data.start();
     servo1_signal = 1;
@@ -85,14 +83,16 @@
                     servo1.pulsewidth(0.0006);
                     servo2.pulsewidth(0.0006);
                     mpu.getAccelero(acc);
-                    pc.printf("OPEN:%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)));
+                    //pc.printf("OPEN:%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)));
+                    pc.printf("0,%f,%f,0,%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)),(acc[1]/9.81),timer_data.read());
                 }
                 if(c[0] == 'l'){
                     myled = 0;
                     servo1.pulsewidth(0.0024);
                     servo2.pulsewidth(0.0024);
                     mpu.getAccelero(acc);
-                    pc.printf("LOCK:%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)));
+                    //pc.printf("LOCK:%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)));
+                    pc.printf("0,%f,%f,0,%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)),(acc[1]/9.81),timer_data.read());
                 }
                 if(c[0] == 'f'){
                 //pc.printf("flight_mode\r\n");
@@ -109,7 +109,9 @@
                 }
                 acc_abs = _median(acc_buff,NUM_CNT_MEDIAN);
                 if(timer_data.read() - t > TIME_SEND){
-                    pc.printf("LAUNCH,acc:%f,time:%3f,cnt:%d\r\n",acc_abs,timer_data.read(),cnt_judge);
+                    //pc.printf("LAUNCH,acc:%f,time:%3f,cnt:%d\r\n",acc_abs,timer_data.read(),cnt_judge);
+                    pc.printf("1,%f,%f,0,%3f\r\n",acc_abs,acc_abs,timer_data.read());
+                    
                     t = timer_data.read();
                 }
                 /*加速度判定*/
@@ -127,8 +129,19 @@
                 
             case RISE:
                 while(timer_open.read() < TIME_BURNING){
-                    pc.printf("RISE,time from launch:%f\r\n",timer_open.read());
-                    wait(1.0);
+                    for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){
+                        alt_buff[cnt_data] = _getAlt();
+                    }
+                    alt_md = _median(alt_buff,NUM_CNT_MEDIAN);
+                    alt_md = alt_md - alt_gnd;
+                    for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){
+                        mpu.getAccelero(acc);
+                        acc_buff[cnt_data] = sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0));
+                    }
+                    acc_abs = _median(acc_buff,NUM_CNT_MEDIAN);
+                    //pc.printf("RISE,time from launch:%f\r\n",timer_open.read());
+                    pc.printf("3,%f,%f,%f,%3f\r\n",acc_abs,acc_abs,alt_md,timer_open.read());
+                    wait(0.9);
                     i=0;
                     timer_data.reset();
                 }
@@ -144,7 +157,8 @@
                 alt_md = _median(alt_buff,NUM_CNT_MEDIAN);
                 alt_md = alt_md - alt_gnd;
                 if(timer_open.read() - t > TIME_SEND){
-                    pc.printf("OPEN,alt:%f,time:%3f,cnt:%d\r\n",alt_md,timer_open.read(),cnt_judge);
+                    //pc.printf("OPEN,alt:%f,time:%3f,cnt:%d\r\n",alt_md,timer_open.read(),cnt_judge);
+                    pc.printf("15,%f,%f,%f,%3f\r\n",acc_abs,acc_abs,alt_md,timer_open.read());
                     t = timer_open.read();
                 }
                 if(alt_md > alt_max){
@@ -158,6 +172,8 @@
                 //if((timer_open.read()-time_judge) - TIME_JUDGE_CNT > 0) cnt_judge=0;
                 if(cnt_judge == CNT_JUDGE || timer_open.read() > TIME_OPEN){
                     Phase = RECOVERY;
+                    pc.printf("9,0,0,0,0\r\n");
+                    wait(0.5);
                     tic_gps.attach(&_SendGPS, 1.0/RATE_GPS); 
                 }
                 break;
@@ -224,7 +240,7 @@
                         //pc.printf("%s\r\n",gps_data);
                         //pc.printf("Lat:%f,Lon:%f\r\ntime:%f,sat_num:%d\r\n",lat_north,lon_east,world_time,sat_num);
                         int japan_time = int(world_time) - 9;
-                        pc.printf("Lat:%f,Lon:%f,MAX_ALT:%f\r\n",lat_north,lon_east,alt_max);
+                        pc.printf("Lat,%f,Lon,%f,MAX_ALT,%f\r\n",lat_north,lon_east,alt_max);
                         for(i=0;i<2;i++){
                             c[i]=pc.getc();
                         }