201803_oshima_jodam_test
Dependencies: BMP180 MPU6050 SDFileSystem mbed
Fork of SDFileSystem_HelloWorld by
Diff: main.cpp
- Revision:
- 9:b10aaf72d100
- Parent:
- 8:eb1ebae5f051
- Child:
- 10:273500c77873
--- a/main.cpp Tue Mar 06 13:04:18 2018 +0000 +++ b/main.cpp Fri Mar 09 14:14:57 2018 +0000 @@ -23,7 +23,7 @@ Serial twe(p9,p10); Serial gps(p13,p14); Serial pc(USBTX,USBRX); -PwmOut servo_para(p23); +PwmOut servo_para(p22); LocalFileSystem local("local"); FILE *fp; @@ -104,6 +104,7 @@ while(fly == 1); //フライトピン抜けるまで待機 + twe.printf("SEPARATE!!!!!!!\r\n"); i = 0; Alt_buff[0] = 0; fp = fopen("/sd/mydir/sdtest.txt", "a"); @@ -162,7 +163,7 @@ i = 0; if(tf_para == true){ //パラ開くまでは頂点判定 Alt_buff[Cnt_buff+1] = Alt_now; - if(Alt_buff[Cnt_buff]>Alt_buff[Cnt_buff+1]) Cnt_para++; //直前の値より小さければカウント+1 + if(Alt_buff[Cnt_buff]-Alt_buff[Cnt_buff+1] > 1) Cnt_para++; //直前の値より小さければカウント+1 // twe.printf("Cnt_para:%d\r\n", Cnt_para); Cnt_buff++; if(Cnt_para == 10 || t > TIMER){ //頂点!!! @@ -173,8 +174,9 @@ tf_para = false; timer1.stop(); twe.printf("PARA_OPEN\r\n"); - i = 0; - ochiru.attach(_recovery,0.1); //パラメータ保存のためのやつ + twe.printf("GPS_MODE_ON!!!!\r\n"); + + ochiru.attach(_recovery,0.2); //パラメータ保存のためのやつ } } @@ -197,11 +199,11 @@ Alt_now = get_Alt(pressure, temperature); Alt_now = Alt_now - Alt_gnd; fprintf(fp, "%f,%f,%f,%f,%f,%f,%f\r\n",Alt_now,a[0],a[1],a[2],d[0],d[1],d[2]); - Cnt_buff++; + i++; if(i == 50){ fclose(fp); - Cnt_buff = 0; + i = 0; } } float get_Alt(float press, float temp){ @@ -238,8 +240,8 @@ void _para(int motion){ if(motion==UNLOCK){ - servo_para.pulsewidth(0.0005); // pulse servo out sita + servo_para.pulsewidth(0.001); // pulse servo out sita }else if(motion==LOCK){ - servo_para.pulsewidth(0.0025); // pulse servo outu sita + servo_para.pulsewidth(0.002); // pulse servo outu sita } } \ No newline at end of file