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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.h
+23 -22
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@@ -42,17 +42,18 @@
#pragma once
#include <uORB/uORB.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/battery_status.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/module_params.h>
#include <parameters/param.h>
#include <board_config.h>
#include <px4_platform_common/board_common.h>
#include <math.h>
#include <float.h>
#include <board_config.h>
#include <px4_platform_common/board_common.h>
#include <px4_platform_common/module_params.h>
#include <drivers/drv_hrt.h>
#include <lib/parameters/param.h>
#include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/battery_status.h>
/**
* BatteryBase is a base class for any type of battery.
@@ -96,7 +97,7 @@ public:
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
* @param throttle_normalized: Throttle of the vehicle, between 0 and 1
*/
void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, bool connected,
void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
int source, int priority, float throttle_normalized);
/**
@@ -126,7 +127,7 @@ protected:
param_t v_load_drop_old;
param_t r_internal_old;
param_t source_old;
} _param_handles;
} _param_handles{};
struct {
float v_empty;
@@ -149,9 +150,9 @@ protected:
float v_load_drop_old;
float r_internal_old;
int source_old;
} _params;
} _params{};
battery_status_s _battery_status;
battery_status_s _battery_status{};
const int _index;
@@ -192,25 +193,25 @@ protected:
}
}
bool isFloatEqual(float a, float b) { return fabsf(a - b) > FLT_EPSILON; }
bool isFloatEqual(float a, float b) const { return fabsf(a - b) > FLT_EPSILON; }
private:
void sumDischarged(hrt_abstime timestamp, float current_a);
void sumDischarged(const hrt_abstime &timestamp, float current_a);
void estimateRemaining(const float voltage_v, const float current_a, const float throttle);
void determineWarning(bool connected);
void computeScale();
uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
bool _battery_initialized = false;
bool _battery_initialized{false};
AlphaFilter<float> _voltage_filter_v;
AlphaFilter<float> _current_filter_a;
AlphaFilter<float> _throttle_filter;
float _discharged_mah = 0.f;
float _discharged_mah_loop = 0.f;
float _remaining_voltage = -1.f; ///< normalized battery charge level remaining based on voltage
float _remaining = -1.f; ///< normalized battery charge level, selected based on config param
float _scale = 1.f;
uint8_t _warning;
hrt_abstime _last_timestamp;
float _discharged_mah{0.f};
float _discharged_mah_loop{0.f};
float _remaining_voltage{-1.f}; ///< normalized battery charge level remaining based on voltage
float _remaining{-1.f}; ///< normalized battery charge level, selected based on config param
float _scale{1.f};
uint8_t _warning{battery_status_s::BATTERY_WARNING_NONE};
hrt_abstime _last_timestamp{0};
};