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battery: fix duplicate uORB publish and minor cleanup

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- run battery_status module on adc_report publications rather than a fixed schedule
This commit is contained in:
Daniel Agar
2020-10-05 11:01:58 -04:00
committed by GitHub
parent be28c4d309
commit 016ee6ea59
3 changed files with 37 additions and 52 deletions
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src/lib/battery/battery.cpp
+11 -26
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@@ -49,9 +49,7 @@ using namespace time_literals;
Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us) :
ModuleParams(parent),
_index(index < 1 || index > 9 ? 1 : index),
_warning(battery_status_s::BATTERY_WARNING_NONE),
_last_timestamp(0)
_index(index < 1 || index > 9 ? 1 : index)
{
const float expected_filter_dt = static_cast<float>(sample_interval_us) / 1_s;
_voltage_filter_v.setParameters(expected_filter_dt, 1.f);
@@ -105,8 +103,7 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us)
updateParams();
}
void
Battery::reset()
void Battery::reset()
{
memset(&_battery_status, 0, sizeof(_battery_status));
_battery_status.current_a = -1.f;
@@ -121,13 +118,10 @@ Battery::reset()
_battery_status.id = (uint8_t) _index;
}
void
Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
bool connected, int source, int priority,
float throttle_normalized)
void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
int source, int priority, float throttle_normalized)
{
reset();
_battery_status.timestamp = timestamp;
if (!_battery_initialized) {
_voltage_filter_v.reset(voltage_v);
@@ -169,24 +163,18 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
}
}
_battery_status.timestamp = timestamp;
const bool should_publish = (source == _params.source);
if (should_publish) {
_battery_status_pub.publish(_battery_status);
if (source == _params.source) {
publish();
}
}
void
Battery::publish()
void Battery::publish()
{
_battery_status.timestamp = hrt_absolute_time();
_battery_status_pub.publish(_battery_status);
}
void
Battery::sumDischarged(hrt_abstime timestamp, float current_a)
void Battery::sumDischarged(const hrt_abstime &timestamp, float current_a)
{
// Not a valid measurement
if (current_a < 0.f) {
@@ -207,8 +195,7 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
_last_timestamp = timestamp;
}
void
Battery::estimateRemaining(const float voltage_v, const float current_a, const float throttle)
void Battery::estimateRemaining(const float voltage_v, const float current_a, const float throttle)
{
// remaining battery capacity based on voltage
float cell_voltage = voltage_v / _params.n_cells;
@@ -246,8 +233,7 @@ Battery::estimateRemaining(const float voltage_v, const float current_a, const f
}
}
void
Battery::determineWarning(bool connected)
void Battery::determineWarning(bool connected)
{
if (connected) {
// propagate warning state only if the state is higher, otherwise remain in current warning state
@@ -266,8 +252,7 @@ Battery::determineWarning(bool connected)
}
}
void
Battery::computeScale()
void Battery::computeScale()
{
const float voltage_range = (_params.v_charged - _params.v_empty);