yal kaiyo / Mbed 2 deprecated 130110_YNU_MPU_1

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Fork of YNU_MPU_0108 by hige dura

Diff: main.cpp

Revision:
3:17236ad0ff1e
Parent:
2:30f96c159d9c
Child:
4:037fab837823
--- a/main.cpp	Mon Jan 07 08:47:36 2013 +0000
+++ b/main.cpp	Mon Jan 07 08:58:34 2013 +0000
@@ -202,7 +202,6 @@
              }
             */
             
-            
             // ******************** guidance law WO homo *************
             
             // ******************** control law **********************
@@ -210,11 +209,13 @@
             //com
             // ******************** control law **********************
             
-            //pc.printf("%7.4f %7.4f %7.4f %7.3f %7.3f %7.3f %8.5f %8.1f %8.1f %8.1f\r\n", acc[0], acc[1], acc[2], gyro[0], gyro[1], gyro[2], azi, alt, GPS[0], GPS[1]);
-            //fprintf(fp, "%7.4f %7.4f %7.4f %7.3f %7.3f %7.3f %8.5f %8.1f %8.1f %8.1f\r\n", acc[0], acc[1], acc[2], gyro[0], gyro[1], gyro[2], azi, alt, GPS[0], GPS[1]);
+            // !!! HOSHINO !!! fprintf add guidance, velocity and control
+            fprintf(fp, "%7.4f %7.4f %7.4f %7.3f %7.3f %7.3f %8.5f %8.1f %8.1f %8.1f\r\n", acc[0], acc[1], acc[2], gyro[0], gyro[1], gyro[2], azi, alt, GPS[0], GPS[1]);
                         
         }
-       time = time + 0.1;      
+       
+        time = time + 0.1;
+          
     }
     
     fclose(fp);