201903_ISE
Dependencies: mbed Madgwick MPU6050 Kalman BMP180
main.cpp@10:1a626929850e, 2019-03-10 (annotated)
- Committer:
- sashida_h
- Date:
- Sun Mar 10 03:41:56 2019 +0000
- Revision:
- 10:1a626929850e
- Parent:
- 9:42b4d337d4cc
- Child:
- 11:c90db1500720
2019_0310;
Who changed what in which revision?
User | Revision | Line number | New 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); |
sashida_h | 10:1a626929850e | 32 | DigitalOut ES920_RST(PA_5); |
Yukina | 5:f6e956e8a060 | 33 | Timer timer_open; |
Yukina | 5:f6e956e8a060 | 34 | Timer timer_data; |
Yukina | 5:f6e956e8a060 | 35 | Ticker tic_data; |
Yukina | 5:f6e956e8a060 | 36 | Ticker tic_gps; |
mikawataru | 0:0ff20d8e9090 | 37 | |
Yukina | 5:f6e956e8a060 | 38 | /*自作関数*/ |
Yukina | 5:f6e956e8a060 | 39 | float _getAlt(); |
Yukina | 5:f6e956e8a060 | 40 | float _median(float data[],int num); |
Yukina | 5:f6e956e8a060 | 41 | void _SendData(); |
Yukina | 5:f6e956e8a060 | 42 | void _SendGPS(); |
Yukina | 5:f6e956e8a060 | 43 | float _DMS2DEG(float raw_data); |
sashida_h | 9:42b4d337d4cc | 44 | int servo(); |
Yukina | 4:4b3ae90ec778 | 45 | |
Yukina | 5:f6e956e8a060 | 46 | enum PHASE{STANDBY=0,LAUNCH=1,RISE=3,FIRE=7,OPEN=15,RECOVERY=9,SEA=6} Phase; |
Yukina | 4:4b3ae90ec778 | 47 | |
Yukina | 5:f6e956e8a060 | 48 | /*グローバル変数*/ |
sashida_h | 8:15a1b22df82f | 49 | float t = 0; |
sashida_h | 7:9953d922499d | 50 | //地上高度 |
sashida_h | 7:9953d922499d | 51 | float alt_gnd; |
sashida_h | 9:42b4d337d4cc | 52 | float alt_max; |
sashida_h | 7:9953d922499d | 53 | //GPS |
sashida_h | 7:9953d922499d | 54 | int cnt_gps=0; |
sashida_h | 7:9953d922499d | 55 | |
sashida_h | 7:9953d922499d | 56 | int p = 1; |
sashida_h | 9:42b4d337d4cc | 57 | //サーボ |
sashida_h | 9:42b4d337d4cc | 58 | int i = 0; |
sashida_h | 9:42b4d337d4cc | 59 | char c[516]; |
sashida_h | 9:42b4d337d4cc | 60 | char d [8]; |
sashida_h | 9:42b4d337d4cc | 61 | int len; |
sashida_h | 9:42b4d337d4cc | 62 | char f[]="Receive"; |
mikawataru | 0:0ff20d8e9090 | 63 | |
sashida_h | 9:42b4d337d4cc | 64 | void main(){ |
sashida_h | 10:1a626929850e | 65 | ES920_RST = 0; |
sashida_h | 10:1a626929850e | 66 | myled =0; |
Yukina | 5:f6e956e8a060 | 67 | /*ローカル変数*/ |
Yukina | 5:f6e956e8a060 | 68 | float acc[3],acc_buff[10],gyro[3],gyro_buff[10],acc_abs; |
sashida_h | 9:42b4d337d4cc | 69 | float alt_buff[10],alt_md; |
Yukina | 5:f6e956e8a060 | 70 | float time_judge; |
Yukina | 5:f6e956e8a060 | 71 | int cnt_data=0,cnt_judge=0; |
sashida_h | 9:42b4d337d4cc | 72 | char gps_data[256]; |
Yukina | 5:f6e956e8a060 | 73 | /*センサの初期化等*/ |
sashida_h | 7:9953d922499d | 74 | pc.baud(38400); |
Yukina | 5:f6e956e8a060 | 75 | mpu.setAcceleroRange(3); |
mikawataru | 0:0ff20d8e9090 | 76 | bmp.Initialize(64,BMP180_OSS_ULTRA_LOW_POWER); |
Yukina | 5:f6e956e8a060 | 77 | |
Yukina | 5:f6e956e8a060 | 78 | /*初期位置の設定*/ |
Yukina | 5:f6e956e8a060 | 79 | mpu.getAccelero(acc); |
Yukina | 5:f6e956e8a060 | 80 | mpu.getGyro(gyro); |
Yukina | 5:f6e956e8a060 | 81 | |
Yukina | 5:f6e956e8a060 | 82 | Phase = STANDBY; |
sashida_h | 7:9953d922499d | 83 | for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){ |
sashida_h | 7:9953d922499d | 84 | alt_buff[cnt_data] = _getAlt(); |
sashida_h | 7:9953d922499d | 85 | } |
sashida_h | 7:9953d922499d | 86 | alt_gnd = _median(alt_buff,NUM_CNT_MEDIAN); |
sashida_h | 7:9953d922499d | 87 | wait(2.0); |
sashida_h | 7:9953d922499d | 88 | pc.printf("Hello World!\r\n"); |
sashida_h | 8:15a1b22df82f | 89 | wait(1.0); |
sashida_h | 8:15a1b22df82f | 90 | pc.printf("f:Flight_mode_on\r\n"); |
sashida_h | 8:15a1b22df82f | 91 | wait(1.0); |
sashida_h | 9:42b4d337d4cc | 92 | timer_data.start(); |
Yukina | 5:f6e956e8a060 | 93 | while(1){ |
Yukina | 5:f6e956e8a060 | 94 | switch(Phase){ |
Yukina | 5:f6e956e8a060 | 95 | case STANDBY: |
sashida_h | 10:1a626929850e | 96 | /*サーボ入力待ち*/ |
sashida_h | 10:1a626929850e | 97 | //servo(); |
sashida_h | 10:1a626929850e | 98 | c[0]=pc.getc(); |
sashida_h | 10:1a626929850e | 99 | if(c[0] == 'o') myled = 1; |
sashida_h | 10:1a626929850e | 100 | if(c[0] == 'l') myled = 0; |
sashida_h | 10:1a626929850e | 101 | if(c[0] == 'f'){ |
sashida_h | 10:1a626929850e | 102 | //pc.printf("flight_mode\r\n"); |
sashida_h | 10:1a626929850e | 103 | Phase = LAUNCH; |
sashida_h | 10:1a626929850e | 104 | } |
Yukina | 5:f6e956e8a060 | 105 | break; |
sashida_h | 8:15a1b22df82f | 106 | |
Yukina | 5:f6e956e8a060 | 107 | case LAUNCH: |
Yukina | 5:f6e956e8a060 | 108 | for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){ |
Yukina | 5:f6e956e8a060 | 109 | mpu.getAccelero(acc); |
Yukina | 5:f6e956e8a060 | 110 | 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 | 111 | } |
Yukina | 5:f6e956e8a060 | 112 | acc_abs = _median(acc_buff,NUM_CNT_MEDIAN); |
sashida_h | 8:15a1b22df82f | 113 | if(timer_data.read() - t > TIME_SEND){ |
sashida_h | 8:15a1b22df82f | 114 | pc.printf("LAUNCH,acc:%f,time:%3f,cnt:%d\r\n",acc_abs,timer_data.read(),cnt_judge); |
sashida_h | 8:15a1b22df82f | 115 | t = timer_data.read(); |
sashida_h | 7:9953d922499d | 116 | } |
Yukina | 5:f6e956e8a060 | 117 | /*加速度判定*/ |
Yukina | 5:f6e956e8a060 | 118 | if(acc_abs>ACC_JUDGE_LAUNCH){ |
Yukina | 5:f6e956e8a060 | 119 | cnt_judge++; |
Yukina | 4:4b3ae90ec778 | 120 | } |
sashida_h | 8:15a1b22df82f | 121 | if(cnt_judge==CNT_JUDGE){ |
Yukina | 5:f6e956e8a060 | 122 | cnt_judge=0; |
Yukina | 5:f6e956e8a060 | 123 | timer_open.start(); |
sashida_h | 7:9953d922499d | 124 | Phase = RISE; |
Yukina | 5:f6e956e8a060 | 125 | } |
Yukina | 5:f6e956e8a060 | 126 | break; |
sashida_h | 8:15a1b22df82f | 127 | |
Yukina | 5:f6e956e8a060 | 128 | case RISE: |
Yukina | 5:f6e956e8a060 | 129 | while(timer_open.read() < TIME_BURNING){ |
sashida_h | 8:15a1b22df82f | 130 | pc.printf("RISE,time from launch:%f\r\n",timer_open.read()); |
sashida_h | 8:15a1b22df82f | 131 | wait(1.0); |
sashida_h | 7:9953d922499d | 132 | i=0; |
sashida_h | 8:15a1b22df82f | 133 | timer_data.reset(); |
Yukina | 5:f6e956e8a060 | 134 | } |
sashida_h | 8:15a1b22df82f | 135 | Phase = OPEN; |
sashida_h | 8:15a1b22df82f | 136 | t = 0.0; |
Yukina | 5:f6e956e8a060 | 137 | break; |
Yukina | 5:f6e956e8a060 | 138 | case FIRE: |
Yukina | 6:f17310205c1f | 139 | |
Yukina | 6:f17310205c1f | 140 | //カルマン |
Yukina | 6:f17310205c1f | 141 | /* |
Yukina | 5:f6e956e8a060 | 142 | gPrevMicros = timer_open.read(); |
Yukina | 4:4b3ae90ec778 | 143 | mpu.getAccelero(acc); |
Yukina | 5:f6e956e8a060 | 144 | mpu.getGyro(gyro); |
Yukina | 5:f6e956e8a060 | 145 | degRoll = atan2(acc[1], acc[2]) * RadToDeg; |
Yukina | 5:f6e956e8a060 | 146 | degPitch = atan(-acc[0] / sqrt(acc[1] * acc[1] + acc[2] * acc[2])) * RadToDeg; |
Yukina | 5:f6e956e8a060 | 147 | |
Yukina | 5:f6e956e8a060 | 148 | float dpsX = gyro[0] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 149 | float dpsY = gyro[1] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 150 | float dpsZ = gyro[2] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 151 | |
Yukina | 5:f6e956e8a060 | 152 | float curMicros = timer_open.read(); |
Yukina | 5:f6e956e8a060 | 153 | float dt = curMicros - gPrevMicros; |
Yukina | 5:f6e956e8a060 | 154 | gPrevMicros = curMicros; |
Yukina | 4:4b3ae90ec778 | 155 | |
Yukina | 5:f6e956e8a060 | 156 | float degX = gKfx.calcAngle(degRoll, dpsX, dt); |
Yukina | 5:f6e956e8a060 | 157 | float degY = gKfy.calcAngle(degPitch, dpsY, dt); |
Yukina | 5:f6e956e8a060 | 158 | degY -= gCalibrateY; |
Yukina | 5:f6e956e8a060 | 159 | degX -= gCalibrateX; |
Yukina | 5:f6e956e8a060 | 160 | if(degY>ANGLE_JUDGE_FIRE){ |
Yukina | 5:f6e956e8a060 | 161 | Phase = OPEN; |
Yukina | 5:f6e956e8a060 | 162 | } |
Yukina | 6:f17310205c1f | 163 | */ |
Yukina | 6:f17310205c1f | 164 | |
Yukina | 6:f17310205c1f | 165 | //madgwick |
Yukina | 6:f17310205c1f | 166 | float Roll,Pitch,Yaw; |
Yukina | 6:f17310205c1f | 167 | MadgwickFilter.begin(2); |
Yukina | 6:f17310205c1f | 168 | mpu.getAccelero(acc); |
Yukina | 6:f17310205c1f | 169 | mpu.getGyro(gyro); |
Yukina | 6:f17310205c1f | 170 | gyro[0] *= RadToDeg; |
Yukina | 6:f17310205c1f | 171 | gyro[1] *= RadToDeg; |
Yukina | 6:f17310205c1f | 172 | gyro[2] *= RadToDeg; |
Yukina | 6:f17310205c1f | 173 | |
Yukina | 6:f17310205c1f | 174 | MadgwickFilter.updateIMU(gyro[0],gyro[1],gyro[2],acc[0],acc[1],acc[2]); |
Yukina | 6:f17310205c1f | 175 | Roll = MadgwickFilter.getRoll(); |
Yukina | 6:f17310205c1f | 176 | Pitch = MadgwickFilter.getPitch(); |
Yukina | 6:f17310205c1f | 177 | Yaw = MadgwickFilter.getYaw(); |
sashida_h | 7:9953d922499d | 178 | i++; |
sashida_h | 7:9953d922499d | 179 | if(i==400){ |
sashida_h | 7:9953d922499d | 180 | //pc.printf("TIME:%f,Pitch:%f\r\n",timer_data.read(),Pitch); |
sashida_h | 7:9953d922499d | 181 | pc.printf("FIRE:Pitch:%f,Time%f\r\n",Pitch,timer_open.read()); |
sashida_h | 7:9953d922499d | 182 | i=0; |
sashida_h | 7:9953d922499d | 183 | } |
sashida_h | 7:9953d922499d | 184 | /*if(Pitch>ANGLE_JUDGE_FIRE_MIN && Pitch < ANGLE_JUDGE_FIRE_MAX){ |
Yukina | 6:f17310205c1f | 185 | Phase = OPEN; |
sashida_h | 7:9953d922499d | 186 | i=0; |
Yukina | 6:f17310205c1f | 187 | } |
sashida_h | 7:9953d922499d | 188 | */ |
Yukina | 6:f17310205c1f | 189 | |
sashida_h | 7:9953d922499d | 190 | //if(timer_open.read()>TIMER_NOTFIRE){ |
sashida_h | 7:9953d922499d | 191 | if(timer_data.read()>60.0){ |
sashida_h | 7:9953d922499d | 192 | Phase = OPEN; |
sashida_h | 7:9953d922499d | 193 | pc.printf("NOT_FIRE!!\r\n"); |
sashida_h | 7:9953d922499d | 194 | } |
Yukina | 5:f6e956e8a060 | 195 | break; |
Yukina | 5:f6e956e8a060 | 196 | case OPEN: |
Yukina | 5:f6e956e8a060 | 197 | for(cnt_data=0;cnt_data<NUM_CNT_MEDIAN;cnt_data++){ |
Yukina | 5:f6e956e8a060 | 198 | alt_buff[cnt_data] = _getAlt(); |
Yukina | 5:f6e956e8a060 | 199 | } |
Yukina | 5:f6e956e8a060 | 200 | alt_md = _median(alt_buff,NUM_CNT_MEDIAN); |
sashida_h | 7:9953d922499d | 201 | alt_md = alt_md - alt_gnd; |
sashida_h | 8:15a1b22df82f | 202 | if(timer_open.read() - t > TIME_SEND){ |
sashida_h | 8:15a1b22df82f | 203 | pc.printf("OPEN,alt:%f,time:%3f,cnt:%d\r\n",alt_md,timer_open.read(),cnt_judge); |
sashida_h | 8:15a1b22df82f | 204 | t = timer_open.read(); |
sashida_h | 7:9953d922499d | 205 | } |
Yukina | 5:f6e956e8a060 | 206 | if(alt_md > alt_max){ |
Yukina | 5:f6e956e8a060 | 207 | alt_max = alt_md; |
Yukina | 5:f6e956e8a060 | 208 | cnt_judge = 0; |
Yukina | 5:f6e956e8a060 | 209 | } |
Yukina | 5:f6e956e8a060 | 210 | else if((alt_max-alt_md) > ALT_JUDGE_OPEN){ |
Yukina | 5:f6e956e8a060 | 211 | cnt_judge++; |
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: |
Yukina | 5:f6e956e8a060 | 221 | break; |
Yukina | 5:f6e956e8a060 | 222 | case SEA: |
Yukina | 5:f6e956e8a060 | 223 | break; |
Yukina | 4:4b3ae90ec778 | 224 | } |
Yukina | 4:4b3ae90ec778 | 225 | } |
Yukina | 4:4b3ae90ec778 | 226 | } |
Yukina | 4:4b3ae90ec778 | 227 | |
Yukina | 4:4b3ae90ec778 | 228 | float _getAlt(){ |
Yukina | 4:4b3ae90ec778 | 229 | float altitude,pressure,temperature; |
Yukina | 4:4b3ae90ec778 | 230 | bmp.ReadData(&temperature,&pressure); |
Yukina | 4:4b3ae90ec778 | 231 | altitude = (pow((p0/pressure), (1.0f/5.257f))-1.0f)*(temperature+273.15f)/0.0065f; |
Yukina | 4:4b3ae90ec778 | 232 | return altitude; |
Yukina | 4:4b3ae90ec778 | 233 | } |
Yukina | 4:4b3ae90ec778 | 234 | |
Yukina | 5:f6e956e8a060 | 235 | void _SendData(){ |
Yukina | 5:f6e956e8a060 | 236 | float pretime,a[3],g[3],alt; |
Yukina | 5:f6e956e8a060 | 237 | //カルマン |
Yukina | 5:f6e956e8a060 | 238 | /* |
Yukina | 5:f6e956e8a060 | 239 | pretime = timer_data.read(); |
Yukina | 5:f6e956e8a060 | 240 | mpu.getAccelero(a); |
Yukina | 5:f6e956e8a060 | 241 | mpu.getGyro(g); |
Yukina | 5:f6e956e8a060 | 242 | float degroll = atan2(a[1], a[2]) * RadToDeg; |
Yukina | 5:f6e956e8a060 | 243 | float degpitch = atan(-a[0] / sqrt(a[1] * a[1] + a[2] * a[2])) * RadToDeg; |
Yukina | 5:f6e956e8a060 | 244 | |
Yukina | 5:f6e956e8a060 | 245 | float dpsx = g[0] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 246 | float dpsy = g[1] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 247 | float dpsz = g[2] * RadToDeg; |
Yukina | 5:f6e956e8a060 | 248 | |
Yukina | 5:f6e956e8a060 | 249 | float curtime = timer_data.read(); |
Yukina | 5:f6e956e8a060 | 250 | float t = curtime - pretime; |
Yukina | 5:f6e956e8a060 | 251 | pretime = curtime; |
Yukina | 5:f6e956e8a060 | 252 | |
Yukina | 5:f6e956e8a060 | 253 | float degx = gKfx.calcAngle(degroll, dpsx, t); |
Yukina | 5:f6e956e8a060 | 254 | float degy = gKfy.calcAngle(degpitch, dpsx, t); |
Yukina | 5:f6e956e8a060 | 255 | degy -= gCalibrateY; |
Yukina | 5:f6e956e8a060 | 256 | degx -= gCalibrateX; |
Yukina | 5:f6e956e8a060 | 257 | */ |
Yukina | 5:f6e956e8a060 | 258 | /*madgwick*/ |
Yukina | 5:f6e956e8a060 | 259 | float Roll,Pitch,Yaw; |
Yukina | 5:f6e956e8a060 | 260 | MadgwickFilter.begin(2); |
Yukina | 5:f6e956e8a060 | 261 | mpu.getAccelero(a); |
Yukina | 5:f6e956e8a060 | 262 | mpu.getGyro(g); |
Yukina | 5:f6e956e8a060 | 263 | g[0] *= RadToDeg; |
Yukina | 5:f6e956e8a060 | 264 | g[1] *= RadToDeg; |
Yukina | 5:f6e956e8a060 | 265 | g[2] *= RadToDeg; |
Yukina | 5:f6e956e8a060 | 266 | |
Yukina | 5:f6e956e8a060 | 267 | MadgwickFilter.updateIMU(g[0],g[1],g[2],a[0],a[1],a[2]); |
Yukina | 5:f6e956e8a060 | 268 | Roll = MadgwickFilter.getRoll(); |
Yukina | 5:f6e956e8a060 | 269 | Pitch = MadgwickFilter.getPitch(); |
Yukina | 5:f6e956e8a060 | 270 | Yaw = MadgwickFilter.getYaw(); |
Yukina | 5:f6e956e8a060 | 271 | |
Yukina | 5:f6e956e8a060 | 272 | alt = _getAlt(); |
sashida_h | 7:9953d922499d | 273 | alt = alt - alt_gnd; |
Yukina | 5:f6e956e8a060 | 274 | //pc.printf("%d,%f,%f,%f\r\n",Phase,alt,degx,degy); |
Yukina | 5:f6e956e8a060 | 275 | pc.printf("%d,%f,%f,%f\r\n",Phase,alt,Roll,Pitch); |
Yukina | 5:f6e956e8a060 | 276 | } |
Yukina | 5:f6e956e8a060 | 277 | |
sashida_h | 9:42b4d337d4cc | 278 | float _DMS2DEG(float raw_data){ |
sashida_h | 9:42b4d337d4cc | 279 | int d=(int)(raw_data/100); |
sashida_h | 9:42b4d337d4cc | 280 | float m=(raw_data-(float)d*100); |
sashida_h | 9:42b4d337d4cc | 281 | return (float)d+m/60; |
sashida_h | 9:42b4d337d4cc | 282 | } |
sashida_h | 9:42b4d337d4cc | 283 | |
sashida_h | 9:42b4d337d4cc | 284 | |
sashida_h | 9:42b4d337d4cc | 285 | float _median(float data[], int num){ |
sashida_h | 9:42b4d337d4cc | 286 | float *data_cpy, ans; |
sashida_h | 9:42b4d337d4cc | 287 | data_cpy = new float[num]; |
sashida_h | 9:42b4d337d4cc | 288 | memcpy(data_cpy,data,sizeof(float)*num); |
sashida_h | 9:42b4d337d4cc | 289 | |
sashida_h | 9:42b4d337d4cc | 290 | for(i=0; i<num; i++){ |
sashida_h | 9:42b4d337d4cc | 291 | for(int j=0; j<num-i-1; j++){ |
sashida_h | 9:42b4d337d4cc | 292 | if(data_cpy[j]>data_cpy[j+1]){ |
sashida_h | 9:42b4d337d4cc | 293 | float buff = data_cpy[j+1]; |
sashida_h | 9:42b4d337d4cc | 294 | data_cpy[j+1] = data_cpy[j]; |
sashida_h | 9:42b4d337d4cc | 295 | data_cpy[j] = buff; |
sashida_h | 9:42b4d337d4cc | 296 | } |
sashida_h | 9:42b4d337d4cc | 297 | } |
sashida_h | 9:42b4d337d4cc | 298 | } |
sashida_h | 9:42b4d337d4cc | 299 | |
sashida_h | 9:42b4d337d4cc | 300 | if(num%2!=0) ans = data_cpy[num/2]; |
sashida_h | 9:42b4d337d4cc | 301 | else ans = (data_cpy[num/2-1]+data_cpy[num/2])/2.0; |
sashida_h | 9:42b4d337d4cc | 302 | delete[] data_cpy; |
sashida_h | 9:42b4d337d4cc | 303 | return ans; |
sashida_h | 9:42b4d337d4cc | 304 | } |
sashida_h | 9:42b4d337d4cc | 305 | |
sashida_h | 9:42b4d337d4cc | 306 | int servo(void){ |
sashida_h | 9:42b4d337d4cc | 307 | do{ |
sashida_h | 9:42b4d337d4cc | 308 | c[i] = pc.getc(); |
sashida_h | 9:42b4d337d4cc | 309 | gps.printf("%c",c[i]); |
sashida_h | 9:42b4d337d4cc | 310 | i++; |
sashida_h | 9:42b4d337d4cc | 311 | }while(c[i-1] != '\n'); |
sashida_h | 9:42b4d337d4cc | 312 | gps.printf("path\r\n"); |
sashida_h | 9:42b4d337d4cc | 313 | //gps.printf("%s",c); |
sashida_h | 9:42b4d337d4cc | 314 | myled = 1; |
sashida_h | 9:42b4d337d4cc | 315 | //gps.printf("%s",c); |
sashida_h | 9:42b4d337d4cc | 316 | len = strlen(f); |
sashida_h | 9:42b4d337d4cc | 317 | i=0; |
sashida_h | 9:42b4d337d4cc | 318 | while(i != 4){ |
sashida_h | 9:42b4d337d4cc | 319 | if (c[i] != f[i]) break; |
sashida_h | 9:42b4d337d4cc | 320 | i++; |
sashida_h | 9:42b4d337d4cc | 321 | } |
sashida_h | 9:42b4d337d4cc | 322 | if(i > 3){ |
sashida_h | 9:42b4d337d4cc | 323 | i=0; |
sashida_h | 9:42b4d337d4cc | 324 | do{ |
sashida_h | 9:42b4d337d4cc | 325 | d[i]=c[13+i]; |
sashida_h | 9:42b4d337d4cc | 326 | i++; |
sashida_h | 9:42b4d337d4cc | 327 | }while(d[i-1] != ')'); |
sashida_h | 9:42b4d337d4cc | 328 | d[i-1] = '\0'; |
sashida_h | 9:42b4d337d4cc | 329 | gps.printf("d:%s",d); |
sashida_h | 9:42b4d337d4cc | 330 | i = 0; |
sashida_h | 9:42b4d337d4cc | 331 | if(d[0] == 'o') myled = 1; |
sashida_h | 9:42b4d337d4cc | 332 | if(d[0] == 'l') myled = 0; |
sashida_h | 9:42b4d337d4cc | 333 | if(d[0] == 'f'){ |
sashida_h | 9:42b4d337d4cc | 334 | //pc.printf("flight_mode\r\n"); |
sashida_h | 9:42b4d337d4cc | 335 | Phase = LAUNCH; |
sashida_h | 9:42b4d337d4cc | 336 | } |
sashida_h | 9:42b4d337d4cc | 337 | } |
sashida_h | 9:42b4d337d4cc | 338 | |
sashida_h | 9:42b4d337d4cc | 339 | i=0; |
sashida_h | 9:42b4d337d4cc | 340 | memset(c,'\0',64); |
sashida_h | 9:42b4d337d4cc | 341 | memset(d,'\0',8); |
sashida_h | 9:42b4d337d4cc | 342 | //pc.printf("2\r\n"); |
sashida_h | 9:42b4d337d4cc | 343 | return 0; |
sashida_h | 9:42b4d337d4cc | 344 | } |
sashida_h | 7:9953d922499d | 345 | |
Yukina | 5:f6e956e8a060 | 346 | void _SendGPS(){ |
sashida_h | 7:9953d922499d | 347 | char gps_data[256]; |
sashida_h | 7:9953d922499d | 348 | while(1){ |
sashida_h | 7:9953d922499d | 349 | if(gps.readable()){ |
sashida_h | 7:9953d922499d | 350 | gps_data[cnt_gps] = gps.getc(); |
sashida_h | 7:9953d922499d | 351 | if(gps_data[cnt_gps] == '$' || cnt_gps ==256){ |
sashida_h | 7:9953d922499d | 352 | cnt_gps = 0; |
sashida_h | 7:9953d922499d | 353 | memset(gps_data,'\0',256); |
sashida_h | 7:9953d922499d | 354 | }else if(gps_data[cnt_gps] == '\r'){ |
sashida_h | 7:9953d922499d | 355 | float world_time, lon_east, lat_north; |
sashida_h | 7:9953d922499d | 356 | int rlock, sat_num; |
sashida_h | 7:9953d922499d | 357 | char lat,lon; |
sashida_h | 7:9953d922499d | 358 | 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 | 359 | if(rlock==1){ |
sashida_h | 7:9953d922499d | 360 | lat_north = _DMS2DEG(lat_north); |
sashida_h | 7:9953d922499d | 361 | lon_east = _DMS2DEG(lon_east); |
sashida_h | 7:9953d922499d | 362 | //pc.printf("%s\r\n",gps_data); |
sashida_h | 7:9953d922499d | 363 | //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 | 364 | int japan_time = int(world_time) - 9; |
sashida_h | 9:42b4d337d4cc | 365 | pc.printf("Lat:%f,Lon:%f,MAX_ALT:%f\r\n",lat_north,lon_east,alt_max); |
sashida_h | 10:1a626929850e | 366 | for(i=0;i<2;i++){ |
sashida_h | 10:1a626929850e | 367 | c[i]=pc.getc(); |
sashida_h | 10:1a626929850e | 368 | } |
sashida_h | 10:1a626929850e | 369 | //pc.printf("%c",c[1]); |
sashida_h | 10:1a626929850e | 370 | if(c[1]!='O'){ |
sashida_h | 10:1a626929850e | 371 | ES920_RST = 1; |
sashida_h | 10:1a626929850e | 372 | wait(0.1); |
sashida_h | 10:1a626929850e | 373 | ES920_RST = 0; |
sashida_h | 10:1a626929850e | 374 | wait(1.0); |
sashida_h | 10:1a626929850e | 375 | myled = 1; |
sashida_h | 10:1a626929850e | 376 | }else{ |
sashida_h | 10:1a626929850e | 377 | myled = 0; |
sashida_h | 10:1a626929850e | 378 | } |
sashida_h | 10:1a626929850e | 379 | |
sashida_h | 7:9953d922499d | 380 | break; |
sashida_h | 7:9953d922499d | 381 | }else{ |
sashida_h | 7:9953d922499d | 382 | //pc.printf("%s\r\n",gps_data); |
sashida_h | 7:9953d922499d | 383 | pc.printf("NoGPSSignal\r\n"); |
sashida_h | 7:9953d922499d | 384 | break; |
sashida_h | 7:9953d922499d | 385 | } |
Yukina | 5:f6e956e8a060 | 386 | }else{ |
sashida_h | 7:9953d922499d | 387 | //ffpc.printf("No_Satellite_signal\r\n"); |
Yukina | 5:f6e956e8a060 | 388 | } |
sashida_h | 7:9953d922499d | 389 | }else{ |
sashida_h | 7:9953d922499d | 390 | cnt_gps++; |
Yukina | 5:f6e956e8a060 | 391 | } |
Yukina | 5:f6e956e8a060 | 392 | } |
Yukina | 4:4b3ae90ec778 | 393 | } |
Yukina | 4:4b3ae90ec778 | 394 | |
sashida_h | 7:9953d922499d | 395 | } |