File content as of revision 2:d2cb6b50a8c4:

#include "mbed.h"
#include "BMP180.h"
#include "direction.h"
#include "math.h"
#define PIN_SDA D4
#define PIN_SCL D5

GPS gps(D1, D0);
DigitalOut Nichrome(A6);
BMP180 bmp180(PIN_SDA,PIN_SCL);
double bias_la=0,bias_lo=0;
    
int landing_judgement(){
    
    int x ,y ,n1 , n2 ;
    int landing_judgement=0 ;
    float h,dp,dt,dp0;
    float a ,b ,dp_ave,dt_ave;
    
    bmp180.Initialize(27,BMP180_OSS_ULTRA_LOW_POWER);//27は府大の海抜高度
    
    for(int i=0;i<15;i++){
        if(bmp180.ReadData(&dt,&dp)){
            a = a + dp;
            b = b + dt;
            n1 = n1 + 1;
            n2 = n2 + 1;
            wait(1);
            }
        }
    
    dp_ave = a / n1;
    dt_ave = b / n2;    
    dp0 = calculate_dp0(dp_ave,dt_ave);
    
    while(x<10){
            if(bmp180.ReadData(&dt,&dp)){
                h = calculate_h(dp0,dp,dt);
                if(h >= 30){
                x = x + 1;
                    }
                wait(1);
            }
    }
    //10秒以上高度30mにいた場合離陸判定
    
    wait(10);
      
    while(y<10){
            if(bmp180.ReadData(&dt,&dp)){
                h = calculate_h(dp0,dp,dt); 
                if(h <= 10){
                y = y + 1;
                    }
                wait(1);
            }
    }
    
    wait(5);
    
    landing_judgement = landing_judgement + 1;
    return landing_judgement;
    
    //離陸判定後、10秒以上高度10m以下にいた場合着地判定
    
}        
             
int parachute_separation()
{
        Nichrome=1;
        wait(10);
        Nichrome=0;
    return 0;
    }

int main(void)
{   
int land_judgement_1=0,sep_judge=1;

//着地判定
while(1)
{
    land_judgement_1 = landing_judgement();
    if(land_judgement_1==1)
    {
        break;
    }  
}

wait(30);

//中間地点を経由してゴール地点まで自律移動
direction.walk();

return 0;

}