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fix(battery): Debounce battery connected state in battery library

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This robustifies against some communication flukes where a single 0V
sample was given to the battery library, which would previously mark the
battery disconnected immediately. Now we tolerate a given time of 0V
samples (while not actually updating the voltage) before considering the
battery disconnected.
This commit is contained in:
Balduin
2026-03-19 10:15:34 +01:00
parent f8d9a3e68f
commit 30e78141db
2 changed files with 10 additions and 4 deletions
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src/lib/battery/battery.cpp
+6 -2
View File
@@ -98,7 +98,10 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us,
void Battery::updateVoltage(const float voltage_v)
{
_voltage_v = voltage_v;
if (voltage_v >= LITHIUM_BATTERY_RECOGNITION_VOLTAGE) {
_voltage_v = voltage_v;
_last_sufficient_voltage_timestamp = hrt_absolute_time();
}
}
void Battery::updateCurrent(const float current_a)
@@ -116,7 +119,8 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
updateDt(timestamp);
// Require minimum voltage otherwise override connected status
if (_voltage_v < LITHIUM_BATTERY_RECOGNITION_VOLTAGE) {
// Tolerate a small number of low-voltage samples (common I2C comm failure) before disconnection
if (timestamp - _last_sufficient_voltage_timestamp > MAX_LOW_VOLTAGE_TIME_S * 1_s) {
_connected = false;
}
src/lib/battery/battery.h
+4 -2
View File
@@ -134,8 +134,6 @@ public:
void updateDt(const hrt_abstime &timestamp);
protected:
static constexpr float LITHIUM_BATTERY_RECOGNITION_VOLTAGE = 2.1f;
struct {
param_t v_empty;
param_t v_charged;
@@ -202,6 +200,10 @@ private:
bool _vehicle_status_is_fw{false};
hrt_abstime _last_unconnected_timestamp{0};
static constexpr float LITHIUM_BATTERY_RECOGNITION_VOLTAGE = 2.1f;
static constexpr float MAX_LOW_VOLTAGE_TIME_S = 0.2f;
hrt_abstime _last_sufficient_voltage_timestamp{0};
// Internal Resistance estimation
void updateInternalResistanceEstimation(const float voltage_v, const float current_a);
void resetInternalResistanceEstimation(const float voltage_v, const float current_a);