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Make battery failsafe limits configurable

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This commit is contained in:
Lorenz Meier
2016-04-23 17:10:07 +02:00
parent 5c70b44d0a
commit 3003ed8d40
3 changed files with 36 additions and 4 deletions
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src/modules/systemlib/battery.cpp
+4 -4
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@@ -48,6 +48,8 @@ Battery::Battery() :
_param_n_cells(this, "N_CELLS"),
_param_capacity(this, "CAPACITY"),
_param_v_load_drop(this, "V_LOAD_DROP"),
_param_low_thr(this, "LOW_THR"),
_param_crit_thr(this, "CRIT_THR"),
_voltage_filtered_v(0.0f),
_throttle_filtered(0.0f),
_discharged_mah(0.0f),
@@ -162,13 +164,11 @@ Battery::estimateRemaining(float voltage_v, float throttle_normalized)
void
Battery::determineWarning()
{
// TODO: Determine threshold or make params.
// Smallest values must come first
if (_remaining < 0.09f) {
if (_remaining < _param_crit_thr.get()) {
_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (_remaining < 0.18f) {
} else if (_remaining < _param_low_thr.get()) {
_warning = battery_status_s::BATTERY_WARNING_LOW;
}
}