File content as of revision 0:010a686dbe95:

#include "mbed.h"
#include "mpu9250_i2c.h"
#include "BMP180.h"
#include "millis.h"
#include "IM920.h"
#include "GPS.h"
#include "math.h"
#define mpu_SDA PB_7
#define mpu_SCL PB_6
I2C i2c(PB_7, PB_6);
BMP180 bmp180(&i2c);
I2C i2cBus(mpu_SDA, mpu_SCL);
mpu9250 mpu(i2cBus, AD0_HIGH);
DigitalIn enable(PA_8);
PwmOut PWM1(PB_0);
PwmOut PWM2(PB_1); 
//SDFileSystem sd(PA_7, PA_6, PA_5, PA_4, "sd");
IM920 im920(PA_2, PA_3, PF_0, PB_3);
GPS gps(PA_9, PA_10);
Serial  pc(USBTX, USBRX);
bool flightpin();
void getmpu(float &ax,float &ay,float &az,float &gx,float &gy,float &gz,float &mx,float &my,float &mz);
void getbmp(int &pressure,float &temp,float &altitude,float &l);
void imSend(char *send);
void sendDatas(float latitude, float longtitude, float altitude, float time);
void getGPS();
//void getgps(float &longtitude,float &latitude);
char sendData[256]; //送るデータのchar型配列(im920はchar型でしか送れない。)
int main(){
    int sequence=0;
    int maxaltitude=0;
    int pressure;
    bool flightpinattached=false;
    bool launched=false;
    float ax,ay,az,gx,gy,gz,mx,my,mz;
    float altitude,temp,l;
    float longtitude,latitude;
    
    PWM1.period_us(20000);
    PWM1.pulsewidth_us(500);
    PWM2.period_us(20000); 
    PWM2.pulsewidth_us(500);
    
    //sd.mount();
    //FATFS fs;
    //f_mount(&fs,"",0);
    //FIL fp;
    //f_open(&fp,"TEST.TXT",FA_CREATE_ALWAYS | FA_WRITE);
    
    while(launched==false){
        getmpu(ax,ay,az,gx,gy,gz,mx,my,mz);
        enable.mode(PullUp);
        while(1) {
         if(enable) {
            flightpinattached=true;
        }
        
         if(flightpinattached==true||(ax*ax+ay*ay+az*az)>=2.0*2.0){
            launched=true;
         }
       }
    }
       
    
    while(sequence!=3){
        getmpu(ax,ay,az,gx,gy,gz,mx,my,mz);
        getbmp(pressure,temp,altitude,l);
        //getgps(longtitude,latitude);
        
        if(maxaltitude<altitude){
            maxaltitude=altitude;
        }  
        
        switch(sequence){
            case 0:if(launched==true){
                millisStart();
                sequence=1;
                //f_printf(&fp,"%f,%f,%f,%f,%f",ax,ay,az,longtitude,latitude);
                }
                break;
            case 1:if((millis()>15||maxaltitude-altitude>10)&&launched==true){
                PWM1.pulsewidth_us(1200);
                PWM2.pulsewidth_us(1200);
                sequence=2;
                //fprintf(fp,"%f,%f,%f",ax,ay,az);
                //f_printf(&fp,"%f,%f,%f",ax,ay,az);
                }
                break;
            case 2:if(millis()>60){
                sequence=3;
                //sd.unmount();
                //f_close(&fp);
                }
                break;
        }
    }
}
void getmpu(float &ax,float &ay,float &az,float &gx,float &gy,float &gz,float &mx,float &my,float &mz){
    float acc[3]={};
    float gyro[3]={};
    float mag[3]={};
    
    pc.baud(115200);
    mpu.setAccLPF(NO_USE);
    mpu.setAcc(_16G);
    
    mpu.getAcc(acc);
    mpu.getGyro(gyro);
    mpu.getMag(mag);
    
    ax=acc[0];
    ay=acc[1];
    az=acc[2];
    gx=gyro[0];
    gy=gyro[1];
    gz=gyro[2];
    mx=mag[0];
    my=mag[1];
    mz=mag[2];  
}
//void getbmp(double &altitude,double &pressure){
  //  double temp,altitudebig;
    //bmp180.startTemperature();
    //bmp180.startPressure(BMP180::ULTRA_LOW_POWER);    
    //double l = (1012.25 / (pressure/100) );    
    //double i = temp + 273.15;
    //altitudebig = pow(double(l), double((1 / 5.257) - 1)) * (i)*(1 / 0.0065);      
    //altitude=altitudebig/10000;      
//}
void getbmp(int &pressure,float &temp,float &altitude,float &l){
    
    if (bmp180.init() != 0) {
            printf("");
        } else {
            printf("");
        }
    bmp180.startTemperature();
    wait_ms(5);    
    if(bmp180.getTemperature(&temp) != 0) {
        printf("");
    }
    bmp180.startPressure(BMP180::ULTRA_LOW_POWER);
    wait_ms(10);   
    
    if(bmp180.getPressure(&pressure) != 0) {
        printf("");
    }
    float t_press = float(pressure)/100;
    l = (1012.25 / t_press );  
    float i = temp + 273.15;
    altitude = (pow(double(l), double(1 / 5.257)) - 1) * i / 0.0065;
}
//void getgps(float &longtitude,float &latitude){
  //  gps.GetData();
    //longtitude=gps.longtitude;
    //latitude=gps.latitude;
//}
void imSend(char *send){//無線で送信する関数
    im920.send(send,strlen(send)+1);
    pc.printf(send);
    pc.printf("\r\n");
}
void sendDatas(float latitude, float longtitude, float altitude, float time){//データを文字列に変換してimSendを呼び出して送信する関数
        sprintf(sendData,"data1,%.3f,%.3f,%.3f,%.3f", latitude, longtitude, altitude, time);
        imSend(sendData);
}
void getGPS(){//GPSの値を取得してsendDatesに値を入れる関数
    //NVIC_SetPriority(UART2_IRQn,0); //割り込み優先順位(必要に応じて)
    gps.GetData();
    if(gps.readable == true){
       sendDatas(gps.latitude, gps.longtitude, gps.altitude, gps.time);
    }
}