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uavcan/sensors/battery: refactoring _battery_status name

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This commit is contained in:
Igor Mišić
2022-07-08 10:03:11 +02:00
committed by Beat Küng
parent 0eeb699af8
commit 27b65481ba
2 changed files with 46 additions and 46 deletions
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src/drivers/uavcan/sensors/battery.cpp
+45 -45
View File
@@ -73,7 +73,7 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
uint8_t instance = 0;
for (instance = 0; instance < battery_status_s::MAX_INSTANCES; instance++) {
if (battery_status[instance].id == msg.getSrcNodeID().get() || battery_status[instance].id == 0) {
if (_battery_status[instance].id == msg.getSrcNodeID().get() || _battery_status[instance].id == 0) {
break;
}
}
@@ -82,51 +82,51 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
return;
}
battery_status[instance].timestamp = hrt_absolute_time();
battery_status[instance].voltage_v = msg.voltage;
battery_status[instance].voltage_filtered_v = msg.voltage;
battery_status[instance].current_a = msg.current;
battery_status[instance].current_filtered_a = msg.current;
battery_status[instance].current_average_a = msg.current;
_battery_status[instance].timestamp = hrt_absolute_time();
_battery_status[instance].voltage_v = msg.voltage;
_battery_status[instance].voltage_filtered_v = msg.voltage;
_battery_status[instance].current_a = msg.current;
_battery_status[instance].current_filtered_a = msg.current;
_battery_status[instance].current_average_a = msg.current;
if (battery_aux_support[instance] == false) {
sumDischarged(battery_status[instance].timestamp, battery_status[instance].current_a);
battery_status[instance].discharged_mah = _discharged_mah;
sumDischarged(_battery_status[instance].timestamp, _battery_status[instance].current_a);
_battery_status[instance].discharged_mah = _discharged_mah;
}
battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
// battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
// battery_status[instance].cell_count = msg.;
battery_status[instance].connected = true;
battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
// battery_status[instance].priority = msg.;
battery_status[instance].capacity = msg.full_charge_capacity_wh;
battery_status[instance].full_charge_capacity_wh = msg.full_charge_capacity_wh;
battery_status[instance].remaining_capacity_wh = msg.remaining_capacity_wh;
// battery_status[instance].cycle_count = msg.;
battery_status[instance].time_remaining_s = NAN;
// battery_status[instance].average_time_to_empty = msg.;
battery_status[instance].serial_number = msg.model_instance_id;
battery_status[instance].id = msg.getSrcNodeID().get();
_battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
// _battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
// _battery_status[instance].cell_count = msg.;
_battery_status[instance].connected = true;
_battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
// _battery_status[instance].priority = msg.;
_battery_status[instance].capacity = msg.full_charge_capacity_wh;
_battery_status[instance].full_charge_capacity_wh = msg.full_charge_capacity_wh;
_battery_status[instance].remaining_capacity_wh = msg.remaining_capacity_wh;
// _battery_status[instance].cycle_count = msg.;
_battery_status[instance].time_remaining_s = NAN;
// _battery_status[instance].average_time_to_empty = msg.;
_battery_status[instance].serial_number = msg.model_instance_id;
_battery_status[instance].id = msg.getSrcNodeID().get();
if (battery_aux_support[instance] == false) {
// Mavlink 2 needs individual cell voltages or cell[0] if cell voltages are not available.
battery_status[instance].voltage_cell_v[0] = msg.voltage;
_battery_status[instance].voltage_cell_v[0] = msg.voltage;
// Set cell count to 1 so the the battery code in mavlink_messages.cpp copies the values correctly (hack?)
battery_status[instance].cell_count = 1;
_battery_status[instance].cell_count = 1;
}
// battery_status[instance].max_cell_voltage_delta = msg.;
// _battery_status[instance].max_cell_voltage_delta = msg.;
// battery_status[instance].is_powering_off = msg.;
// _battery_status[instance].is_powering_off = msg.;
determineWarning(battery_status[instance].remaining);
battery_status[instance].warning = _warning;
determineWarning(_battery_status[instance].remaining);
_battery_status[instance].warning = _warning;
if (battery_aux_support[instance] == false) {
publish(msg.getSrcNodeID().get(), &battery_status[instance]);
publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
}
}
@@ -137,7 +137,7 @@ UavcanBatteryBridge::battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardu
uint8_t instance = 0;
for (instance = 0; instance < battery_status_s::MAX_INSTANCES; instance++) {
if (battery_status[instance].id == msg.getSrcNodeID().get()) {
if (_battery_status[instance].id == msg.getSrcNodeID().get()) {
break;
}
}
@@ -148,23 +148,23 @@ UavcanBatteryBridge::battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardu
battery_aux_support[instance] = true;
battery_status[instance].discharged_mah = (battery_status[instance].full_charge_capacity_wh -
battery_status[instance].remaining_capacity_wh) / msg.nominal_voltage *
_battery_status[instance].discharged_mah = (_battery_status[instance].full_charge_capacity_wh -
_battery_status[instance].remaining_capacity_wh) / msg.nominal_voltage *
1000;
battery_status[instance].cell_count = math::min((uint8_t)msg.voltage_cell.size(), (uint8_t)14);
battery_status[instance].cycle_count = msg.cycle_count;
battery_status[instance].over_discharge_count = msg.over_discharge_count;
battery_status[instance].nominal_voltage = msg.nominal_voltage;
battery_status[instance].time_remaining_s = math::isZero(battery_status[instance].current_a) ? 0 :
(battery_status[instance].remaining_capacity_wh /
battery_status[instance].nominal_voltage / battery_status[instance].current_a * 3600);
battery_status[instance].is_powering_off = msg.is_powering_off;
_battery_status[instance].cell_count = math::min((uint8_t)msg.voltage_cell.size(), (uint8_t)14);
_battery_status[instance].cycle_count = msg.cycle_count;
_battery_status[instance].over_discharge_count = msg.over_discharge_count;
_battery_status[instance].nominal_voltage = msg.nominal_voltage;
_battery_status[instance].time_remaining_s = math::isZero(_battery_status[instance].current_a) ? 0 :
(_battery_status[instance].remaining_capacity_wh /
_battery_status[instance].nominal_voltage / _battery_status[instance].current_a * 3600);
_battery_status[instance].is_powering_off = msg.is_powering_off;
for (uint8_t i = 0; i < battery_status[instance].cell_count; i++) {
battery_status[instance].voltage_cell_v[i] = msg.voltage_cell[i];
for (uint8_t i = 0; i < _battery_status[instance].cell_count; i++) {
_battery_status[instance].voltage_cell_v[i] = msg.voltage_cell[i];
}
publish(msg.getSrcNodeID().get(), &battery_status[instance]);
publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
}
void
src/drivers/uavcan/sensors/battery.hpp
+1 -1
View File
@@ -84,6 +84,6 @@ private:
float _discharged_mah_loop = 0.f;
uint8_t _warning;
hrt_abstime _last_timestamp;
battery_status_s battery_status[battery_status_s::MAX_INSTANCES] {};
battery_status_s _battery_status[battery_status_s::MAX_INSTANCES] {};
bool battery_aux_support[battery_status_s::MAX_INSTANCES] {false};
};