aigamozu / Mbed 2 deprecated Aigamozu_Base_2016_ver1

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Dependencies:   ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed

Fork of Aigamozu_Base_ver3_1 by aigamozu

Diff: main.cpp

Revision:
14:3aa6d735a2fa
Parent:
13:82f4f00f11f6
Child:
15:35e3917fcbf5
--- a/main.cpp	Sun May 24 08:10:08 2015 +0000
+++ b/main.cpp	Mon May 25 11:38:09 2015 +0000
@@ -39,7 +39,7 @@
 #define SIGMA_MIN 0.0001
 
 //************ID Number*****************
-const char MyID = 'b';
+const char MyID = 'd';
 //************ID Number*****************
 
 /////////////////////////////////////////
@@ -85,8 +85,13 @@
 double Kx=0,Ky=0;//カルマンゲイン
 double zx,zy;//観測値
 void Kalman(double Latitude,double Longitude);
+int change = 0;
 
-
+/*
+LocalFileSystem local("local");  // マウントポイントを定義（ディレクトリパスになる）
+FILE *fp;
+char filename[16] = "/local/out0.txt";
+*/
 /////////////////////////////////////////
 //
 //Send_Status
@@ -134,7 +139,8 @@
 /////////////////////////////////////////
 
 void Get_GPS(Adafruit_GPS *myGPS){
-    static int flag = 0;
+    static int flag = 0;  
+//    static int save_counter = 0;
     
     if (myGPS->fix) {
         agz.nowStatus = GPS_AVAIL;
@@ -149,7 +155,28 @@
         }
             
         if(flag >= 16){
-            Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
+//            if(abs(x_prev - agz.get_agzPoint_lati()) < 0.001 && abs(y_prev - agz.get_agzPoint_longi()) < 0.001){
+                Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
+/*                change = 1;
+            }
+            else{
+                change = 0;
+            }
+            
+            if(save_counter < 10){
+                fp = fopen(filename, "a");
+                fprintf(fp, "%d %.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",
+                    change, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
+                    agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
+                    agz.get_agzCov_lati(),agz.get_agzCov_longi());
+                fclose(fp);   
+                
+                if((flag - 16) % 500 == 0){
+                    filename[10]++;
+                    save_counter++;
+                }
+            }
+*/
         } 
         
                 printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n",