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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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uavcan: Add support for BatteryInfoAux message
This commit is contained in:
CUAVmengxiao
Daniel Agar
parent
425d03d909
commit
0ddf76ed7f
@ -164,7 +164,6 @@ px4_add_module(
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sensors/rangefinder.cpp
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sensors/accel.cpp
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sensors/gyro.cpp
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sensors/cbat.cpp
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sensors/ice_status.cpp
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sensors/hygrometer.cpp
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@ -42,6 +42,7 @@ UavcanBatteryBridge::UavcanBatteryBridge(uavcan::INode &node) :
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UavcanSensorBridgeBase("uavcan_battery", ORB_ID(battery_status)),
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ModuleParams(nullptr),
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_sub_battery(node),
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_sub_battery_aux(node),
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_warning(battery_status_s::BATTERY_WARNING_NONE),
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_last_timestamp(0)
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{
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@ -56,52 +57,114 @@ int UavcanBatteryBridge::init()
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return res;
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}
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res = _sub_battery_aux.start(BatteryInfoAuxCbBinder(this, &UavcanBatteryBridge::battery_aux_sub_cb));
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if (res < 0) {
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PX4_ERR("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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void
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UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg)
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{
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battery_status_s battery{};
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uint8_t instance = 0;
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battery.timestamp = hrt_absolute_time();
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battery.voltage_v = msg.voltage;
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battery.voltage_filtered_v = msg.voltage;
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battery.current_a = msg.current;
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battery.current_filtered_a = msg.current;
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// battery.current_average_a = msg.;
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for (instance = 0; instance < battery_status_s::MAX_INSTANCES; instance++) {
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if (battery_status[instance].id == msg.getSrcNodeID().get() || battery_status[instance].id == 0) {
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break;
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}
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}
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sumDischarged(battery.timestamp, battery.current_a);
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battery.discharged_mah = _discharged_mah;
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if (instance >= battery_status_s::MAX_INSTANCES) {
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return;
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}
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battery.remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
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// battery.scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
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battery.temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
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// battery.cell_count = msg.;
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battery.connected = true;
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battery.source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
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// battery.priority = msg.;
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battery.capacity = msg.full_charge_capacity_wh;
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// battery.cycle_count = msg.;
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// battery.time_remaining_s = msg.;
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// battery.average_time_to_empty = msg.;
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battery.serial_number = msg.model_instance_id;
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battery.id = msg.getSrcNodeID().get();
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battery_status[instance].timestamp = hrt_absolute_time();
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battery_status[instance].voltage_v = msg.voltage;
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battery_status[instance].voltage_filtered_v = msg.voltage;
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battery_status[instance].current_a = msg.current;
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battery_status[instance].current_filtered_a = msg.current;
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// battery_status[instance].current_average_a = msg.;
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// Mavlink 2 needs individual cell voltages or cell[0] if cell voltages are not available.
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battery.voltage_cell_v[0] = msg.voltage;
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if (battery_aux_support[instance] == false) {
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sumDischarged(battery_status[instance].timestamp, battery_status[instance].current_a);
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battery_status[instance].discharged_mah = _discharged_mah;
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}
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// Set cell count to 1 so the the battery code in mavlink_messages.cpp copies the values correctly (hack?)
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battery.cell_count = 1;
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battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
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// battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
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battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
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// battery_status[instance].cell_count = msg.;
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battery_status[instance].connected = true;
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battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
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// battery_status[instance].priority = msg.;
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// battery_status[instance].capacity = msg.;
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battery_status[instance].full_charge_capacity_wh = msg.full_charge_capacity_wh;
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battery_status[instance].remaining_capacity_wh = msg.remaining_capacity_wh;
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// battery_status[instance].cycle_count = msg.;
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// battery_status[instance].time_remaining_s = msg.;
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// battery_status[instance].average_time_to_empty = msg.;
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battery_status[instance].serial_number = msg.model_instance_id;
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battery_status[instance].id = msg.getSrcNodeID().get();
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// battery.max_cell_voltage_delta = msg.;
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if (battery_aux_support[instance] == false) {
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// Mavlink 2 needs individual cell voltages or cell[0] if cell voltages are not available.
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battery_status[instance].voltage_cell_v[0] = msg.voltage;
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// battery.is_powering_off = msg.;
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// Set cell count to 1 so the the battery code in mavlink_messages.cpp copies the values correctly (hack?)
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battery_status[instance].cell_count = 1;
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}
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determineWarning(battery.remaining);
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battery.warning = _warning;
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// battery_status[instance].max_cell_voltage_delta = msg.;
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publish(msg.getSrcNodeID().get(), &battery);
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// battery_status[instance].is_powering_off = msg.;
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determineWarning(battery_status[instance].remaining);
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battery_status[instance].warning = _warning;
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if (battery_aux_support[instance] == false) {
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publish(msg.getSrcNodeID().get(), &battery_status[instance]);
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}
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}
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void
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UavcanBatteryBridge::battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::equipment::power::BatteryInfoAux>
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&msg)
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{
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uint8_t instance = 0;
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for (instance = 0; instance < battery_status_s::MAX_INSTANCES; instance++) {
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if (battery_status[instance].id == msg.getSrcNodeID().get()) {
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break;
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}
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}
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if (instance >= battery_status_s::MAX_INSTANCES) {
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return;
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}
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battery_aux_support[instance] = true;
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battery_status[instance].discharged_mah = (battery_status[instance].full_charge_capacity_wh -
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battery_status[instance].remaining_capacity_wh) / msg.nominal_voltage *
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1000;
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battery_status[instance].cell_count = math::min((uint8_t)msg.voltage_cell.size(), (uint8_t)14);
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battery_status[instance].cycle_count = msg.cycle_count;
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battery_status[instance].over_discharge_count = msg.over_discharge_count;
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battery_status[instance].nominal_voltage = msg.nominal_voltage;
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battery_status[instance].time_remaining_s = math::isZero(battery_status[instance].current_a) ? 0 :
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(battery_status[instance].remaining_capacity_wh /
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battery_status[instance].nominal_voltage / battery_status[instance].current_a * 3600);
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battery_status[instance].is_powering_off = msg.is_powering_off;
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for (uint8_t i = 0; i < battery_status[instance].cell_count; i++) {
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battery_status[instance].voltage_cell_v[i] = msg.voltage_cell[i];
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}
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publish(msg.getSrcNodeID().get(), &battery_status[instance]);
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}
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void
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@ -40,6 +40,7 @@
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#include "sensor_bridge.hpp"
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#include <uORB/topics/battery_status.h>
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#include <uavcan/equipment/power/BatteryInfo.hpp>
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#include <ardupilot/equipment/power/BatteryInfoAux.hpp>
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/module_params.h>
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@ -57,6 +58,7 @@ public:
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private:
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void battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg);
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void battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::equipment::power::BatteryInfoAux> &msg);
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void sumDischarged(hrt_abstime timestamp, float current_a);
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void determineWarning(float remaining);
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@ -64,8 +66,13 @@ private:
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void (UavcanBatteryBridge::*)
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(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &) >
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BatteryInfoCbBinder;
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typedef uavcan::MethodBinder < UavcanBatteryBridge *,
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void (UavcanBatteryBridge::*)
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(const uavcan::ReceivedDataStructure<ardupilot::equipment::power::BatteryInfoAux> &) >
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BatteryInfoAuxCbBinder;
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uavcan::Subscriber<uavcan::equipment::power::BatteryInfo, BatteryInfoCbBinder> _sub_battery;
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uavcan::Subscriber<ardupilot::equipment::power::BatteryInfoAux, BatteryInfoAuxCbBinder> _sub_battery_aux;
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
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@ -77,4 +84,6 @@ private:
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float _discharged_mah_loop = 0.f;
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uint8_t _warning;
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hrt_abstime _last_timestamp;
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battery_status_s battery_status[battery_status_s::MAX_INSTANCES] {};
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bool battery_aux_support[battery_status_s::MAX_INSTANCES] {};
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};
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@ -1,139 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "cbat.hpp"
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#include <lib/geo/geo.h>
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#include <px4_defines.h>
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const char *const UavcanCBATBridge::NAME = "cbat";
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UavcanCBATBridge::UavcanCBATBridge(uavcan::INode &node) :
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UavcanSensorBridgeBase("uavcan_cbat", ORB_ID(battery_status)),
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ModuleParams(nullptr),
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_sub_battery(node),
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_warning(battery_status_s::BATTERY_WARNING_NONE)
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{
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}
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int UavcanCBATBridge::init()
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{
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int res = _sub_battery.start(CBATCbBinder(this, &UavcanCBATBridge::battery_sub_cb));
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if (res < 0) {
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PX4_ERR("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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void
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UavcanCBATBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &msg)
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{
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battery_status_s battery{};
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battery.timestamp = hrt_absolute_time();
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battery.voltage_v = msg.voltage;
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battery.voltage_filtered_v = battery.voltage_v;
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battery.current_a = msg.current;
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battery.current_filtered_a = battery.current_a;
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battery.current_average_a = msg.average_current;
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battery.discharged_mah = msg.passed_charge * 1000;
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battery.remaining = msg.state_of_charge / 100.0f;
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// battery.scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
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battery.temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
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battery.cell_count = msg.cell_count;
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battery.connected = true;
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battery.source = msg.status_flags & cuav::equipment::power::CBAT::STATUS_FLAG_IN_USE; // BATTERY_SOURCE_EXTERNAL
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// battery.priority = msg.;
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battery.capacity = msg.full_charge_capacity * 1000;
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battery.cycle_count = msg.cycle_count;
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battery.time_remaining_s = msg.average_time_to_empty * 60;
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battery.average_time_to_empty = msg.average_time_to_empty;
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battery.serial_number = msg.serial_number;
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battery.manufacture_date = msg.manufacture_date;
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battery.state_of_health = msg.state_of_health;
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battery.max_error = msg.max_error;
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battery.id = msg.getSrcNodeID().get();
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battery.interface_error = msg.interface_error;
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for (uint8_t i = 0; i < msg.cell_count; i++) {
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battery.voltage_cell_v[i] = msg.voltage_cell[i];
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}
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//Calculate max cell delta
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float min_cell_voltage = msg.voltage_cell[0];
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float max_cell_voltage = msg.voltage_cell[0];
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for (uint8_t i = 1; i < msg.cell_count; i++) {
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min_cell_voltage = math::min(min_cell_voltage, msg.voltage_cell[i]);
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max_cell_voltage = math::max(max_cell_voltage, msg.voltage_cell[i]);
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}
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// Calculate the max difference between the min and max cells with complementary filter.
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battery.max_cell_voltage_delta = (0.5f * (max_cell_voltage - min_cell_voltage)) +
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(0.5f * _max_cell_voltage_delta);
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_max_cell_voltage_delta = battery.max_cell_voltage_delta;
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battery.is_powering_off = msg.is_powering_off;
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determineWarning(battery.remaining);
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battery.warning = _warning;
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// Expand the information
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battery.average_power = msg.average_power;
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battery.available_energy = msg.available_energy;
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battery.remaining_capacity = msg.remaining_capacity;
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battery.design_capacity = msg.design_capacity;
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battery.average_time_to_full = msg.average_time_to_full;
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battery.over_discharge_count = msg.over_discharge_count;
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battery.nominal_voltage = msg.nominal_voltage;
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publish(msg.getSrcNodeID().get(), &battery);
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}
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void
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UavcanCBATBridge::determineWarning(float remaining)
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{
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// propagate warning state only if the state is higher, otherwise remain in current warning state
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if (remaining < _param_bat_emergen_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_EMERGENCY)) {
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_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
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} else if (remaining < _param_bat_crit_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
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_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
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} else if (remaining < _param_bat_low_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_LOW)) {
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_warning = battery_status_s::BATTERY_WARNING_LOW;
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}
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}
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@ -1,78 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
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*
|
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
|
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*
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****************************************************************************/
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/**
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* @author Mengxiao Li <mengxiao@cuav.net>
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*/
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#pragma once
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#include "sensor_bridge.hpp"
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#include <uORB/topics/battery_status.h>
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#include <cuav/equipment/power/CBAT.hpp>
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/module_params.h>
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#include <mathlib/mathlib.h>
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class UavcanCBATBridge : public UavcanSensorBridgeBase, public ModuleParams
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{
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public:
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static const char *const NAME;
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UavcanCBATBridge(uavcan::INode &node);
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const char *get_name() const override { return NAME; }
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int init() override;
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private:
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void battery_sub_cb(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &msg);
|
||||
void determineWarning(float remaining);
|
||||
|
||||
typedef uavcan::MethodBinder < UavcanCBATBridge *,
|
||||
void (UavcanCBATBridge::*)
|
||||
(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &) >
|
||||
CBATCbBinder;
|
||||
|
||||
uavcan::Subscriber<cuav::equipment::power::CBAT, CBATCbBinder> _sub_battery;
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
|
||||
(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
|
||||
(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr
|
||||
)
|
||||
|
||||
uint8_t _warning;
|
||||
float _max_cell_voltage_delta = 0.f;
|
||||
};
|
||||
@ -42,7 +42,6 @@
|
||||
#include "airspeed.hpp"
|
||||
#include "baro.hpp"
|
||||
#include "battery.hpp"
|
||||
#include "cbat.hpp"
|
||||
#include "differential_pressure.hpp"
|
||||
#include "flow.hpp"
|
||||
#include "gnss.hpp"
|
||||
@ -77,11 +76,8 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
|
||||
int32_t uavcan_sub_bat = 1;
|
||||
param_get(param_find("UAVCAN_SUB_BAT"), &uavcan_sub_bat);
|
||||
|
||||
if (uavcan_sub_bat == 1) {
|
||||
if (uavcan_sub_bat != 0) {
|
||||
list.add(new UavcanBatteryBridge(node));
|
||||
|
||||
} else if (uavcan_sub_bat == 2) {
|
||||
list.add(new UavcanCBATBridge(node));
|
||||
}
|
||||
|
||||
// differential pressure
|
||||
|
||||
@ -225,14 +225,10 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_BARO, 0);
|
||||
* subscription battery
|
||||
*
|
||||
* Enable UAVCAN battery subscription.
|
||||
* 1) uavcan::equipment::power::BatteryInfo
|
||||
* 2) cuav::equipment::power::CBAT
|
||||
* uavcan::equipment::power::BatteryInfo
|
||||
* ardupilot::equipment::power::BatteryInfoAux
|
||||
*
|
||||
* @min 0
|
||||
* @max 2
|
||||
* @value 0 disabled
|
||||
* @value 1 default
|
||||
* @value 2 CUAV battery monitor
|
||||
* @boolean
|
||||
* @reboot_required true
|
||||
* @group UAVCAN
|
||||
*/
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user