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Battery: revised voltage drop calculation to fit the new simpler easier to verify estimation

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Matthias Grob 2017-10-29 15:51:10 +01:00 committed by ChristophTobler
parent 52e2aecaf1
commit 101aeadf03
1 changed files with 5 additions and 8 deletions
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13
src/modules/systemlib/battery.cpp
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@ -167,19 +167,16 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
void
Battery::estimateRemaining(float voltage_v, float current_a, float throttle_normalized, bool armed)
{
// correct battery voltage locally for load drop to avoid estimation fluctuations
const float bat_r = _param_r_internal.get();
// remaining charge estimate based on voltage and internal resistance (drop under load)
float bat_v_empty_dynamic = _param_v_empty.get();
if (bat_r >= 0.0f) {
bat_v_empty_dynamic -= current_a * bat_r;
voltage_v += bat_r * current_a;
} else {
// assume 10% voltage drop of the full drop range with motors idle
const float thr = (armed) ? ((fabsf(throttle_normalized) + 0.1f) / 1.1f) : 0.0f;
bat_v_empty_dynamic -= _param_v_load_drop.get() * thr;
// assume quadratic relation between throttle and current
// good assumption if throttle represents RPM
voltage_v += throttle_normalized * throttle_normalized * _param_v_load_drop.get();
}
// remaining battery capacity based on voltage