Haruki Sashida / Mbed 2 deprecated 201903_pf_lower_judgment

201903_14ISEで実際に使用した開放用プログラム． 使用マイコンがNUCLES-F303K8なので注意

Dependencies:   mbed Madgwick MPU6050 Kalman BMP180

main.cpp@9:42b4d337d4cc, 2019-03-09 (annotated)

Committer:
sashida_h
Date:
Sat Mar 09 12:23:07 2019 +0000
Revision:
9:42b4d337d4cc
Parent:
8:15a1b22df82f
Child:
10:1a626929850e
2019_0309;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mikawataru 0:0ff20d8e9090 1 #include "mbed.h"
Yukina 4:4b3ae90ec778 2 #include "MPU6050.h"
mikawataru 0:0ff20d8e9090 3 #include "BMP180.h"
Yukina 5:f6e956e8a060 4 #include "Kalman.h"
Yukina 5:f6e956e8a060 5 #include "MadgwickAHRS.h"
mikawataru 0:0ff20d8e9090 6
Yukina 5:f6e956e8a060 7 /*しきい値など*/
sashida_h 8:15a1b22df82f 8 #define ACC_JUDGE_LAUNCH 3.0 //発射判定のしきい値
sashida_h 8:15a1b22df82f 9 #define TIME_BURNING 6 //開放判定しない時間（燃焼時間）
sashida_h 7:9953d922499d 10 #define ALT_JUDGE_FIRE 0
sashida_h 8:15a1b22df82f 11 #define ALT_JUDGE_OPEN 1 //落下判定のカウントを１増やす高度差
sashida_h 8:15a1b22df82f 12 #define TIME_OPEN 25 //強制的に開放させる時間
sashida_h 8:15a1b22df82f 13 #define TIME_SEND 1.0
sashida_h 7:9953d922499d 14 #define ANGLE_JUDGE_FIRE_MIN 15
sashida_h 7:9953d922499d 15 #define ANGLE_JUDGE_FIRE_MAX 70
sashida_h 8:15a1b22df82f 16 #define CNT_JUDGE 10
Yukina 5:f6e956e8a060 17 #define TIME_JUDGE_CNT 1.5
Yukina 5:f6e956e8a060 18 #define NUM_CNT_MEDIAN 10
sashida_h 7:9953d922499d 19 #define RATE_GPS 1.0
sashida_h 7:9953d922499d 20 #define RATE_DATA 10
sashida_h 7:9953d922499d 21 #define TIMER_NOTFIRE 15.0
Yukina 5:f6e956e8a060 22 #define p0 1013.25f
Yukina 5:f6e956e8a060 23 #define RadToDeg 57.295779513082320876798154814105
Yukina 5:f6e956e8a060 24
sashida_h 7:9953d922499d 25 MPU6050 mpu(PB_7,PB_6);
sashida_h 7:9953d922499d 26 BMP180 bmp(PB_7,PB_6);
Yukina 5:f6e956e8a060 27 KalmanFilter gKfx, gKfy;
Yukina 5:f6e956e8a060 28 Madgwick MadgwickFilter;
sashida_h 7:9953d922499d 29 Serial pc(PA_2, PA_3);
sashida_h 7:9953d922499d 30 Serial gps(PA_9, PA_10);
sashida_h 9:42b4d337d4cc 31 DigitalOut myled(PA_15);
Yukina 5:f6e956e8a060 32 Timer timer_open;
Yukina 5:f6e956e8a060 33 Timer timer_data;
Yukina 5:f6e956e8a060 34 Ticker tic_data;
Yukina 5:f6e956e8a060 35 Ticker tic_gps;
mikawataru 0:0ff20d8e9090 36
Yukina 5:f6e956e8a060 37 /*自作関数*/
Yukina 5:f6e956e8a060 38 float _getAlt();
Yukina 5:f6e956e8a060 39 float _median(float data[],int num);
Yukina 5:f6e956e8a060 40 void _SendData();
Yukina 5:f6e956e8a060 41 void _SendGPS();
Yukina 5:f6e956e8a060 42 float _DMS2DEG(float raw_data);
sashida_h 9:42b4d337d4cc 43 int servo();
Yukina 4:4b3ae90ec778 44
Yukina 5:f6e956e8a060 45 enum PHASE{STANDBY=0,LAUNCH=1,RISE=3,FIRE=7,OPEN=15,RECOVERY=9,SEA=6} Phase;
Yukina 4:4b3ae90ec778 46
Yukina 5:f6e956e8a060 47 /*グローバル変数*/
sashida_h 8:15a1b22df82f 48 float t = 0;
sashida_h 7:9953d922499d 49 //地上高度
sashida_h 7:9953d922499d 50 float alt_gnd;
sashida_h 9:42b4d337d4cc 51 float alt_max;
sashida_h 7:9953d922499d 52 //GPS
sashida_h 7:9953d922499d 53 int cnt_gps=0;
sashida_h 7:9953d922499d 54
sashida_h 7:9953d922499d 55 int p = 1;
sashida_h 9:42b4d337d4cc 56 //サーボ
sashida_h 9:42b4d337d4cc 57 int i = 0;
sashida_h 9:42b4d337d4cc 58 char c[516];
sashida_h 9:42b4d337d4cc 59 char d [8];
sashida_h 9:42b4d337d4cc 60 int len;
sashida_h 9:42b4d337d4cc 61 char f[]="Receive";
mikawataru 0:0ff20d8e9090 62
sashida_h 9:42b4d337d4cc 63 void main(){
Yukina 5:f6e956e8a060 64 /*ローカル変数*/
Yukina 5:f6e956e8a060 65 float acc[3],acc_buff[10],gyro[3],gyro_buff[10],acc_abs;
sashida_h 9:42b4d337d4cc 66 float alt_buff[10],alt_md;
Yukina 5:f6e956e8a060 67 float time_judge;
Yukina 5:f6e956e8a060 68 int cnt_data=0,cnt_judge=0;
sashida_h 9:42b4d337d4cc 69 char gps_data[256];
Yukina 5:f6e956e8a060 70 /*センサの初期化等*/
sashida_h 7:9953d922499d 71 pc.baud(38400);
sashida_h 9:42b4d337d4cc 72 gps.baud(115200);
Yukina 5:f6e956e8a060 73 mpu.setAcceleroRange(3);
mikawataru 0:0ff20d8e9090 74 bmp.Initialize(64,BMP180_OSS_ULTRA_LOW_POWER);
Yukina 5:f6e956e8a060 75
Yukina 5:f6e956e8a060 76 /*初期位置の設定*/
Yukina 5:f6e956e8a060 77 mpu.getAccelero(acc);
Yukina 5:f6e956e8a060 78 mpu.getGyro(gyro);
Yukina 5:f6e956e8a060 79
Yukina 5:f6e956e8a060 80 Phase = STANDBY;
sashida_h 7:9953d922499d 81 for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){
sashida_h 7:9953d922499d 82 alt_buff[cnt_data] = _getAlt();
sashida_h 7:9953d922499d 83 }
sashida_h 7:9953d922499d 84 alt_gnd = _median(alt_buff,NUM_CNT_MEDIAN);
sashida_h 7:9953d922499d 85 wait(2.0);
sashida_h 7:9953d922499d 86 pc.printf("Hello World!\r\n");
sashida_h 8:15a1b22df82f 87 wait(1.0);
sashida_h 8:15a1b22df82f 88 pc.printf("f:Flight_mode_on\r\n");
sashida_h 9:42b4d337d4cc 89 gps.printf("f:Flight_mode_on\r\n");
sashida_h 8:15a1b22df82f 90 wait(1.0);
sashida_h 9:42b4d337d4cc 91 timer_data.start();
Yukina 5:f6e956e8a060 92 while(1){
Yukina 5:f6e956e8a060 93 switch(Phase){
Yukina 5:f6e956e8a060 94 case STANDBY:
sashida_h 9:42b4d337d4cc 95 //gps.printf("Phase_STANDBY\r\n");
Yukina 5:f6e956e8a060 96 /*入力待ち*/
sashida_h 7:9953d922499d 97 //tic_data.attach(&_SendData, 1.0/RATE_DATA);
sashida_h 9:42b4d337d4cc 98 servo();
sashida_h 9:42b4d337d4cc 99 //c[i] = pc.getc();
sashida_h 9:42b4d337d4cc 100 //gps.printf("%c",c[i]);
sashida_h 9:42b4d337d4cc 101 //i++;
sashida_h 9:42b4d337d4cc 102 //if(c[i] == '\n') i=0;
sashida_h 9:42b4d337d4cc 103 //wait(1.0);
Yukina 5:f6e956e8a060 104 break;
sashida_h 8:15a1b22df82f 105
Yukina 5:f6e956e8a060 106 case LAUNCH:
Yukina 5:f6e956e8a060 107 for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){
Yukina 5:f6e956e8a060 108 mpu.getAccelero(acc);
Yukina 5:f6e956e8a060 109 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));
Yukina 5:f6e956e8a060 110 }
Yukina 5:f6e956e8a060 111 acc_abs = _median(acc_buff,NUM_CNT_MEDIAN);
sashida_h 8:15a1b22df82f 112 if(timer_data.read() - t > TIME_SEND){
sashida_h 8:15a1b22df82f 113 pc.printf("LAUNCH,acc:%f,time:%3f,cnt:%d\r\n",acc_abs,timer_data.read(),cnt_judge);
sashida_h 8:15a1b22df82f 114 t = timer_data.read();
sashida_h 7:9953d922499d 115 }
Yukina 5:f6e956e8a060 116 /*加速度判定*/
Yukina 5:f6e956e8a060 117 if(acc_abs>ACC_JUDGE_LAUNCH){
Yukina 5:f6e956e8a060 118 cnt_judge++;
Yukina 4:4b3ae90ec778 119 }
sashida_h 8:15a1b22df82f 120 if(cnt_judge==CNT_JUDGE){
Yukina 5:f6e956e8a060 121 cnt_judge=0;
Yukina 5:f6e956e8a060 122 timer_open.start();
sashida_h 7:9953d922499d 123 Phase = RISE;
Yukina 5:f6e956e8a060 124 }
Yukina 5:f6e956e8a060 125 break;
sashida_h 8:15a1b22df82f 126
Yukina 5:f6e956e8a060 127 case RISE:
Yukina 5:f6e956e8a060 128 while(timer_open.read() < TIME_BURNING){
sashida_h 8:15a1b22df82f 129 pc.printf("RISE,time from launch:%f\r\n",timer_open.read());
sashida_h 8:15a1b22df82f 130 wait(1.0);
sashida_h 7:9953d922499d 131 i=0;
sashida_h 8:15a1b22df82f 132 timer_data.reset();
Yukina 5:f6e956e8a060 133 }
sashida_h 8:15a1b22df82f 134 Phase = OPEN;
sashida_h 8:15a1b22df82f 135 t = 0.0;
Yukina 5:f6e956e8a060 136 break;
Yukina 5:f6e956e8a060 137 case FIRE:
Yukina 6:f17310205c1f 138
Yukina 6:f17310205c1f 139 //カルマン
Yukina 6:f17310205c1f 140 /*
Yukina 5:f6e956e8a060 141 gPrevMicros = timer_open.read();
Yukina 4:4b3ae90ec778 142 mpu.getAccelero(acc);
Yukina 5:f6e956e8a060 143 mpu.getGyro(gyro);
Yukina 5:f6e956e8a060 144 degRoll = atan2(acc[1], acc[2]) * RadToDeg;
Yukina 5:f6e956e8a060 145 degPitch = atan(-acc[0] / sqrt(acc[1] * acc[1] + acc[2] * acc[2])) * RadToDeg;
Yukina 5:f6e956e8a060 146
Yukina 5:f6e956e8a060 147 float dpsX = gyro[0] * RadToDeg;
Yukina 5:f6e956e8a060 148 float dpsY = gyro[1] * RadToDeg;
Yukina 5:f6e956e8a060 149 float dpsZ = gyro[2] * RadToDeg;
Yukina 5:f6e956e8a060 150
Yukina 5:f6e956e8a060 151 float curMicros = timer_open.read();
Yukina 5:f6e956e8a060 152 float dt = curMicros - gPrevMicros;
Yukina 5:f6e956e8a060 153 gPrevMicros = curMicros;
Yukina 4:4b3ae90ec778 154
Yukina 5:f6e956e8a060 155 float degX = gKfx.calcAngle(degRoll, dpsX, dt);
Yukina 5:f6e956e8a060 156 float degY = gKfy.calcAngle(degPitch, dpsY, dt);
Yukina 5:f6e956e8a060 157 degY -= gCalibrateY;
Yukina 5:f6e956e8a060 158 degX -= gCalibrateX;
Yukina 5:f6e956e8a060 159 if(degY>ANGLE_JUDGE_FIRE){
Yukina 5:f6e956e8a060 160 Phase = OPEN;
Yukina 5:f6e956e8a060 161 }
Yukina 6:f17310205c1f 162 */
Yukina 6:f17310205c1f 163
Yukina 6:f17310205c1f 164 //madgwick
Yukina 6:f17310205c1f 165 float Roll,Pitch,Yaw;
Yukina 6:f17310205c1f 166 MadgwickFilter.begin(2);
Yukina 6:f17310205c1f 167 mpu.getAccelero(acc);
Yukina 6:f17310205c1f 168 mpu.getGyro(gyro);
Yukina 6:f17310205c1f 169 gyro[0] *= RadToDeg;
Yukina 6:f17310205c1f 170 gyro[1] *= RadToDeg;
Yukina 6:f17310205c1f 171 gyro[2] *= RadToDeg;
Yukina 6:f17310205c1f 172
Yukina 6:f17310205c1f 173 MadgwickFilter.updateIMU(gyro[0],gyro[1],gyro[2],acc[0],acc[1],acc[2]);
Yukina 6:f17310205c1f 174 Roll = MadgwickFilter.getRoll();
Yukina 6:f17310205c1f 175 Pitch = MadgwickFilter.getPitch();
Yukina 6:f17310205c1f 176 Yaw = MadgwickFilter.getYaw();
sashida_h 7:9953d922499d 177 i++;
sashida_h 7:9953d922499d 178 if(i==400){
sashida_h 7:9953d922499d 179 //pc.printf("TIME:%f,Pitch:%f\r\n",timer_data.read(),Pitch);
sashida_h 7:9953d922499d 180 pc.printf("FIRE:Pitch:%f,Time%f\r\n",Pitch,timer_open.read());
sashida_h 7:9953d922499d 181 i=0;
sashida_h 7:9953d922499d 182 }
sashida_h 7:9953d922499d 183 /*if(Pitch>ANGLE_JUDGE_FIRE_MIN && Pitch < ANGLE_JUDGE_FIRE_MAX){
Yukina 6:f17310205c1f 184 Phase = OPEN;
sashida_h 7:9953d922499d 185 i=0;
Yukina 6:f17310205c1f 186 }
sashida_h 7:9953d922499d 187 */
Yukina 6:f17310205c1f 188
sashida_h 7:9953d922499d 189 //if(timer_open.read()>TIMER_NOTFIRE){
sashida_h 7:9953d922499d 190 if(timer_data.read()>60.0){
sashida_h 7:9953d922499d 191 Phase = OPEN;
sashida_h 7:9953d922499d 192 pc.printf("NOT_FIRE!!\r\n");
sashida_h 7:9953d922499d 193 }
Yukina 5:f6e956e8a060 194 break;
Yukina 5:f6e956e8a060 195 case OPEN:
Yukina 5:f6e956e8a060 196 for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){
Yukina 5:f6e956e8a060 197 alt_buff[cnt_data] = _getAlt();
Yukina 5:f6e956e8a060 198 }
Yukina 5:f6e956e8a060 199 alt_md = _median(alt_buff,NUM_CNT_MEDIAN);
sashida_h 7:9953d922499d 200 alt_md = alt_md - alt_gnd;
sashida_h 8:15a1b22df82f 201 if(timer_open.read() - t > TIME_SEND){
sashida_h 8:15a1b22df82f 202 pc.printf("OPEN,alt:%f,time:%3f,cnt:%d\r\n",alt_md,timer_open.read(),cnt_judge);
sashida_h 8:15a1b22df82f 203 t = timer_open.read();
sashida_h 7:9953d922499d 204 }
Yukina 5:f6e956e8a060 205 if(alt_md > alt_max){
Yukina 5:f6e956e8a060 206 alt_max = alt_md;
Yukina 5:f6e956e8a060 207 cnt_judge = 0;
Yukina 5:f6e956e8a060 208 }
Yukina 5:f6e956e8a060 209 else if((alt_max-alt_md) > ALT_JUDGE_OPEN){
Yukina 5:f6e956e8a060 210 cnt_judge++;
sashida_h 8:15a1b22df82f 211 //time_judge = timer_open.read();
Yukina 5:f6e956e8a060 212 }
Yukina 4:4b3ae90ec778 213
sashida_h 7:9953d922499d 214 //if((timer_open.read()-time_judge) - TIME_JUDGE_CNT > 0) cnt_judge=0;
sashida_h 8:15a1b22df82f 215 if(cnt_judge == CNT_JUDGE || timer_open.read() > TIME_OPEN){
Yukina 5:f6e956e8a060 216 Phase = RECOVERY;
sashida_h 9:42b4d337d4cc 217 tic_gps.attach(&_SendGPS, 1.0/RATE_GPS);
Yukina 5:f6e956e8a060 218 }
Yukina 5:f6e956e8a060 219 break;
Yukina 5:f6e956e8a060 220 case RECOVERY:
sashida_h 9:42b4d337d4cc 221 /*while(1){
sashida_h 8:15a1b22df82f 222 if(gps.readable()){
sashida_h 8:15a1b22df82f 223 gps_data[cnt_gps] = gps.getc();
sashida_h 8:15a1b22df82f 224 if(gps_data[cnt_gps] == '$' || cnt_gps ==256){
sashida_h 8:15a1b22df82f 225 cnt_gps = 0;
sashida_h 8:15a1b22df82f 226 memset(gps_data,'\0',256);
sashida_h 8:15a1b22df82f 227 }else if(gps_data[cnt_gps] == '\r'){
sashida_h 8:15a1b22df82f 228 float world_time, lon_east, lat_north;
sashida_h 8:15a1b22df82f 229 int rlock, sat_num;
sashida_h 8:15a1b22df82f 230 char lat,lon;
sashida_h 8:15a1b22df82f 231 if(sscanf(gps_data,"GPGGA,%f,%f,%c,%f,%c,%d,%d",&world_time,&lat_north,&lat,&lon_east,&lon,&rlock,&sat_num)>=1){
sashida_h 8:15a1b22df82f 232 if(rlock==1){
sashida_h 8:15a1b22df82f 233 lat_north = _DMS2DEG(lat_north);
sashida_h 8:15a1b22df82f 234 lon_east = _DMS2DEG(lon_east);
sashida_h 8:15a1b22df82f 235 //pc.printf("%s\r\n",gps_data);
sashida_h 8:15a1b22df82f 236 //pc.printf("Lat:%f,Lon:%f\r\ntime:%f,sat_num:%d\r\n",lat_north,lon_east,world_time,sat_num);
sashida_h 8:15a1b22df82f 237 int japan_time = int(world_time) - 9;
sashida_h 8:15a1b22df82f 238 pc.printf("Lat:%f,Lon:%f,time:%d,max_alt:%f\r\n",lat_north,lon_east,world_time,alt_max);
sashida_h 8:15a1b22df82f 239 break;
sashida_h 8:15a1b22df82f 240 }else{
sashida_h 8:15a1b22df82f 241 //pc.printf("%s\r\n",gps_data);
sashida_h 8:15a1b22df82f 242 pc.printf("NoGPSSignal,max_alt:%f\r\n",alt_max);
sashida_h 8:15a1b22df82f 243 break;
sashida_h 8:15a1b22df82f 244 }
sashida_h 8:15a1b22df82f 245 }else{
sashida_h 9:42b4d337d4cc 246 //pc.printf("No_Satellite_signal\r\n");
sashida_h 8:15a1b22df82f 247 }
sashida_h 8:15a1b22df82f 248 }else{
sashida_h 8:15a1b22df82f 249 cnt_gps++;
sashida_h 8:15a1b22df82f 250 }
sashida_h 8:15a1b22df82f 251 }
sashida_h 8:15a1b22df82f 252 }
sashida_h 8:15a1b22df82f 253
sashida_h 9:42b4d337d4cc 254 //Phase = SEA;*/
Yukina 5:f6e956e8a060 255 break;
Yukina 5:f6e956e8a060 256 case SEA:
sashida_h 7:9953d922499d 257
Yukina 5:f6e956e8a060 258 break;
Yukina 4:4b3ae90ec778 259 }
Yukina 4:4b3ae90ec778 260 }
Yukina 4:4b3ae90ec778 261 }
Yukina 4:4b3ae90ec778 262
Yukina 4:4b3ae90ec778 263 float _getAlt(){
Yukina 4:4b3ae90ec778 264 float altitude,pressure,temperature;
Yukina 4:4b3ae90ec778 265 bmp.ReadData(&temperature,&pressure);
Yukina 4:4b3ae90ec778 266 altitude = (pow((p0/pressure), (1.0f/5.257f))-1.0f)*(temperature+273.15f)/0.0065f;
Yukina 4:4b3ae90ec778 267 return altitude;
Yukina 4:4b3ae90ec778 268 }
Yukina 4:4b3ae90ec778 269
Yukina 5:f6e956e8a060 270 void _SendData(){
Yukina 5:f6e956e8a060 271 float pretime,a[3],g[3],alt;
Yukina 5:f6e956e8a060 272 //カルマン
Yukina 5:f6e956e8a060 273 /*
Yukina 5:f6e956e8a060 274 pretime = timer_data.read();
Yukina 5:f6e956e8a060 275 mpu.getAccelero(a);
Yukina 5:f6e956e8a060 276 mpu.getGyro(g);
Yukina 5:f6e956e8a060 277 float degroll = atan2(a[1], a[2]) * RadToDeg;
Yukina 5:f6e956e8a060 278 float degpitch = atan(-a[0] / sqrt(a[1] * a[1] + a[2] * a[2])) * RadToDeg;
Yukina 5:f6e956e8a060 279
Yukina 5:f6e956e8a060 280 float dpsx = g[0] * RadToDeg;
Yukina 5:f6e956e8a060 281 float dpsy = g[1] * RadToDeg;
Yukina 5:f6e956e8a060 282 float dpsz = g[2] * RadToDeg;
Yukina 5:f6e956e8a060 283
Yukina 5:f6e956e8a060 284 float curtime = timer_data.read();
Yukina 5:f6e956e8a060 285 float t = curtime - pretime;
Yukina 5:f6e956e8a060 286 pretime = curtime;
Yukina 5:f6e956e8a060 287
Yukina 5:f6e956e8a060 288 float degx = gKfx.calcAngle(degroll, dpsx, t);
Yukina 5:f6e956e8a060 289 float degy = gKfy.calcAngle(degpitch, dpsx, t);
Yukina 5:f6e956e8a060 290 degy -= gCalibrateY;
Yukina 5:f6e956e8a060 291 degx -= gCalibrateX;
Yukina 5:f6e956e8a060 292 */
Yukina 5:f6e956e8a060 293 /*madgwick*/
Yukina 5:f6e956e8a060 294 float Roll,Pitch,Yaw;
Yukina 5:f6e956e8a060 295 MadgwickFilter.begin(2);
Yukina 5:f6e956e8a060 296 mpu.getAccelero(a);
Yukina 5:f6e956e8a060 297 mpu.getGyro(g);
Yukina 5:f6e956e8a060 298 g[0] *= RadToDeg;
Yukina 5:f6e956e8a060 299 g[1] *= RadToDeg;
Yukina 5:f6e956e8a060 300 g[2] *= RadToDeg;
Yukina 5:f6e956e8a060 301
Yukina 5:f6e956e8a060 302 MadgwickFilter.updateIMU(g[0],g[1],g[2],a[0],a[1],a[2]);
Yukina 5:f6e956e8a060 303 Roll = MadgwickFilter.getRoll();
Yukina 5:f6e956e8a060 304 Pitch = MadgwickFilter.getPitch();
Yukina 5:f6e956e8a060 305 Yaw = MadgwickFilter.getYaw();
Yukina 5:f6e956e8a060 306
Yukina 5:f6e956e8a060 307 alt = _getAlt();
sashida_h 7:9953d922499d 308 alt = alt - alt_gnd;
Yukina 5:f6e956e8a060 309 //pc.printf("%d,%f,%f,%f\r\n",Phase,alt,degx,degy);
Yukina 5:f6e956e8a060 310 pc.printf("%d,%f,%f,%f\r\n",Phase,alt,Roll,Pitch);
Yukina 5:f6e956e8a060 311 }
Yukina 5:f6e956e8a060 312
sashida_h 9:42b4d337d4cc 313 float _DMS2DEG(float raw_data){
sashida_h 9:42b4d337d4cc 314 int d=(int)(raw_data/100);
sashida_h 9:42b4d337d4cc 315 float m=(raw_data-(float)d*100);
sashida_h 9:42b4d337d4cc 316 return (float)d+m/60;
sashida_h 9:42b4d337d4cc 317 }
sashida_h 9:42b4d337d4cc 318
sashida_h 9:42b4d337d4cc 319
sashida_h 9:42b4d337d4cc 320 float _median(float data[], int num){
sashida_h 9:42b4d337d4cc 321 float *data_cpy, ans;
sashida_h 9:42b4d337d4cc 322 data_cpy = new float[num];
sashida_h 9:42b4d337d4cc 323 memcpy(data_cpy,data,sizeof(float)*num);
sashida_h 9:42b4d337d4cc 324
sashida_h 9:42b4d337d4cc 325 for(i=0; i<num; i++){
sashida_h 9:42b4d337d4cc 326 for(int j=0; j<num-i-1; j++){
sashida_h 9:42b4d337d4cc 327 if(data_cpy[j]>data_cpy[j+1]){
sashida_h 9:42b4d337d4cc 328 float buff = data_cpy[j+1];
sashida_h 9:42b4d337d4cc 329 data_cpy[j+1] = data_cpy[j];
sashida_h 9:42b4d337d4cc 330 data_cpy[j] = buff;
sashida_h 9:42b4d337d4cc 331 }
sashida_h 9:42b4d337d4cc 332 }
sashida_h 9:42b4d337d4cc 333 }
sashida_h 9:42b4d337d4cc 334
sashida_h 9:42b4d337d4cc 335 if(num%2!=0) ans = data_cpy[num/2];
sashida_h 9:42b4d337d4cc 336 else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0;
sashida_h 9:42b4d337d4cc 337 delete[] data_cpy;
sashida_h 9:42b4d337d4cc 338 return ans;
sashida_h 9:42b4d337d4cc 339 }
sashida_h 9:42b4d337d4cc 340
sashida_h 9:42b4d337d4cc 341 int servo(void){
sashida_h 9:42b4d337d4cc 342 do{
sashida_h 9:42b4d337d4cc 343 c[i] = pc.getc();
sashida_h 9:42b4d337d4cc 344 gps.printf("%c",c[i]);
sashida_h 9:42b4d337d4cc 345 i++;
sashida_h 9:42b4d337d4cc 346 }while(c[i-1] != '\n');
sashida_h 9:42b4d337d4cc 347 gps.printf("path\r\n");
sashida_h 9:42b4d337d4cc 348 //gps.printf("%s",c);
sashida_h 9:42b4d337d4cc 349 myled = 1;
sashida_h 9:42b4d337d4cc 350 //gps.printf("%s",c);
sashida_h 9:42b4d337d4cc 351 len = strlen(f);
sashida_h 9:42b4d337d4cc 352 i=0;
sashida_h 9:42b4d337d4cc 353 while(i != 4){
sashida_h 9:42b4d337d4cc 354 if (c[i] != f[i]) break;
sashida_h 9:42b4d337d4cc 355 i++;
sashida_h 9:42b4d337d4cc 356 }
sashida_h 9:42b4d337d4cc 357 if(i > 3){
sashida_h 9:42b4d337d4cc 358 i=0;
sashida_h 9:42b4d337d4cc 359 do{
sashida_h 9:42b4d337d4cc 360 d[i]=c[13+i];
sashida_h 9:42b4d337d4cc 361 i++;
sashida_h 9:42b4d337d4cc 362 }while(d[i-1] != ')');
sashida_h 9:42b4d337d4cc 363 d[i-1] = '\0';
sashida_h 9:42b4d337d4cc 364 gps.printf("d:%s",d);
sashida_h 9:42b4d337d4cc 365 i = 0;
sashida_h 9:42b4d337d4cc 366 if(d[0] == 'o') myled = 1;
sashida_h 9:42b4d337d4cc 367 if(d[0] == 'l') myled = 0;
sashida_h 9:42b4d337d4cc 368 if(d[0] == 'f'){
sashida_h 9:42b4d337d4cc 369 //pc.printf("flight_mode\r\n");
sashida_h 9:42b4d337d4cc 370 Phase = LAUNCH;
sashida_h 9:42b4d337d4cc 371 }
sashida_h 9:42b4d337d4cc 372 }
sashida_h 9:42b4d337d4cc 373
sashida_h 9:42b4d337d4cc 374 i=0;
sashida_h 9:42b4d337d4cc 375 memset(c,'\0',64);
sashida_h 9:42b4d337d4cc 376 memset(d,'\0',8);
sashida_h 9:42b4d337d4cc 377 //pc.printf("2\r\n");
sashida_h 9:42b4d337d4cc 378 return 0;
sashida_h 9:42b4d337d4cc 379 }
sashida_h 7:9953d922499d 380
Yukina 5:f6e956e8a060 381 void _SendGPS(){
sashida_h 7:9953d922499d 382 char gps_data[256];
sashida_h 7:9953d922499d 383 while(1){
sashida_h 7:9953d922499d 384 if(gps.readable()){
sashida_h 7:9953d922499d 385 gps_data[cnt_gps] = gps.getc();
sashida_h 7:9953d922499d 386 if(gps_data[cnt_gps] == '$' || cnt_gps ==256){
sashida_h 7:9953d922499d 387 cnt_gps = 0;
sashida_h 7:9953d922499d 388 memset(gps_data,'\0',256);
sashida_h 7:9953d922499d 389 }else if(gps_data[cnt_gps] == '\r'){
sashida_h 7:9953d922499d 390 float world_time, lon_east, lat_north;
sashida_h 7:9953d922499d 391 int rlock, sat_num;
sashida_h 7:9953d922499d 392 char lat,lon;
sashida_h 7:9953d922499d 393 if(sscanf(gps_data,"GPGGA,%f,%f,%c,%f,%c,%d,%d",&world_time,&lat_north,&lat,&lon_east,&lon,&rlock,&sat_num)>=1){
sashida_h 7:9953d922499d 394 if(rlock==1){
sashida_h 7:9953d922499d 395 lat_north = _DMS2DEG(lat_north);
sashida_h 7:9953d922499d 396 lon_east = _DMS2DEG(lon_east);
sashida_h 7:9953d922499d 397 //pc.printf("%s\r\n",gps_data);
sashida_h 7:9953d922499d 398 //pc.printf("Lat:%f,Lon:%f\r\ntime:%f,sat_num:%d\r\n",lat_north,lon_east,world_time,sat_num);
sashida_h 7:9953d922499d 399 int japan_time = int(world_time) - 9;
sashida_h 9:42b4d337d4cc 400 pc.printf("Lat:%f,Lon:%f,MAX_ALT:%f\r\n",lat_north,lon_east,alt_max);
sashida_h 7:9953d922499d 401 break;
sashida_h 7:9953d922499d 402 }else{
sashida_h 7:9953d922499d 403 //pc.printf("%s\r\n",gps_data);
sashida_h 7:9953d922499d 404 pc.printf("NoGPSSignal\r\n");
sashida_h 7:9953d922499d 405 break;
sashida_h 7:9953d922499d 406 }
Yukina 5:f6e956e8a060 407 }else{
sashida_h 7:9953d922499d 408 //ffpc.printf("No_Satellite_signal\r\n");
Yukina 5:f6e956e8a060 409 }
sashida_h 7:9953d922499d 410 }else{
sashida_h 7:9953d922499d 411 cnt_gps++;
Yukina 5:f6e956e8a060 412 }
Yukina 5:f6e956e8a060 413 }
Yukina 4:4b3ae90ec778 414 }
Yukina 4:4b3ae90ec778 415
sashida_h 7:9953d922499d 416 }