201903_ISE
Dependencies: mbed Madgwick MPU6050 Kalman BMP180
Diff: main.cpp
- Revision:
- 16:6395de1ad89c
- Parent:
- 15:a47cf038d601
- Child:
- 17:9fc09af2f37a
--- a/main.cpp Wed Mar 13 12:34:49 2019 +0000 +++ b/main.cpp Wed Mar 13 12:36:36 2019 +0000 @@ -98,7 +98,7 @@ servo2.pulsewidth(0.0015);//open mpu.getAccelero(acc); //pc.printf("OPEN:%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0))); - pc.printf("0,%f,%f,0,%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)),(acc[1]/9.81),t); + pc.printf("0,%f,0,%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)),t); } if(c[0] == 'l'){ myled = 0; @@ -106,7 +106,7 @@ servo2.pulsewidth(0.0006); mpu.getAccelero(acc); //pc.printf("LOCK:%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0))); - pc.printf("0,%f,%f,0,%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)),(acc[1]/9.81),t); + pc.printf("0,%f,0,%f\r\n",sqrt(pow(acc[0]/9.81,2.0)+pow(acc[1]/9.81,2.0)+pow(acc[2]/9.81,2.0)),t); } if(c[0] == 'f'){ //pc.printf("flight_mode\r\n"); @@ -130,7 +130,7 @@ acc_abs = _median(acc_buff,NUM_CNT_MEDIAN); if(timer_data.read() - t > TIME_SEND){ //pc.printf("LAUNCH,acc:%f,time:%3f,cnt:%d\r\n",acc_abs,timer_data.read(),cnt_judge); - pc.printf("1,%f,%f,0,%3f\r\n",acc_abs,acc_abs,timer_data.read()); + pc.printf("1,%f,0,%3f\r\n",acc_abs,timer_data.read()); cnt_judge = 0; t = timer_data.read(); } @@ -160,7 +160,7 @@ } acc_abs = _median(acc_buff,NUM_CNT_MEDIAN); //pc.printf("RISE,time from launch:%f\r\n",timer_open.read()); - pc.printf("3,%f,%f,%f,%3f\r\n",acc_abs,acc_abs,alt_md,timer_open.read()); + pc.printf("3,%f,%f,%3f\r\n",acc_abs,alt_md,timer_open.read()); wait(0.9); i=0; timer_data.reset(); @@ -178,7 +178,7 @@ alt_md = alt_md - alt_gnd; if(timer_open.read() - t > TIME_SEND){ //pc.printf("OPEN,alt:%f,time:%3f,cnt:%d\r\n",alt_md,timer_open.read(),cnt_judge); - pc.printf("15,%f,%f,%f,%3f\r\n",acc_abs,acc_abs,alt_md,timer_open.read()); + pc.printf("15,%f,%f,%3f\r\n",acc_abs,alt_md,timer_open.read()); t = timer_open.read(); } if(alt_md > alt_max){