mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 09:33:34 +08:00
commander: move battery calculations to systemlib
The commander used to consume the battery_status topic and write the contents after some calculations into the system state. Instead, the calculations now happen in library calls in systemlib/battery. This moves the battery fields out of the vehicle_status message into the battery_status topic. This brought quite some changes in all modules that need battery information. The current state is compiling but untested.
This commit is contained in:
Julian Oes
@@ -255,7 +255,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
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*/
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int commander_thread_main(int argc, char *argv[]);
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void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed);
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void control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed,
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battery_status_s *battery);
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void get_circuit_breaker_params();
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@@ -1224,10 +1225,6 @@ int commander_thread_main(int argc, char *argv[])
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mavlink_and_console_log_critical(&mavlink_log_pub, "ERROR: BUZZER INIT FAIL");
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}
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if (battery_init() != OK) {
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mavlink_and_console_log_critical(&mavlink_log_pub, "ERROR: BATTERY INIT FAIL");
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}
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/* vehicle status topic */
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memset(&status, 0, sizeof(status));
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status.condition_landed = true; // initialize to safe value
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@@ -1255,10 +1252,6 @@ int commander_thread_main(int argc, char *argv[])
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status.offboard_control_signal_lost = true;
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status.data_link_lost = true;
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/* set battery warning flag */
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battery_warning = vehicle_battery_warning::NONE;
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status.condition_battery_voltage_valid = false;
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// XXX for now just set sensors as initialized
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status.condition_system_sensors_initialized = true;
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@@ -1471,7 +1464,7 @@ int commander_thread_main(int argc, char *argv[])
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vtol_status.vtol_in_rw_mode = true; //default for vtol is rotary wing
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control_status_leds(&status, &armed, true);
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control_status_leds(&status, &armed, true, &battery);
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/* now initialized */
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commander_initialized = true;
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@@ -1967,20 +1960,37 @@ int commander_thread_main(int argc, char *argv[])
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if (updated) {
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orb_copy(ORB_ID(battery_status), battery_sub, &battery);
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orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
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/* only consider battery voltage if system has been running 2s and battery voltage is valid */
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if (hrt_absolute_time() > commander_boot_timestamp + 2000000 && battery.voltage_filtered_v > 0.0f) {
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status.battery_voltage = battery.voltage_filtered_v;
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status.battery_current = battery.current_a;
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status.battery_discharged_mah = battery.discharged_mah;
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status.condition_battery_voltage_valid = true;
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status.battery_cell_count = battery_get_n_cells();
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if (hrt_absolute_time() > commander_boot_timestamp + 2000000
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&& battery.voltage_filtered_v > FLT_EPSILON) {
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/* get throttle (if armed), as we only care about energy negative throttle also counts */
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float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f;
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status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah,
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throttle);
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/* if battery voltage is getting lower, warn using buzzer, etc. */
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if (battery.warning == battery_status_s::BATTERY_WARNING_LOW &&
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!low_battery_voltage_actions_done) {
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low_battery_voltage_actions_done = true;
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if (armed.armed) {
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mavlink_log_critical(&mavlink_log_pub, "LOW BATTERY, RETURN TO LAND ADVISED");
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} else {
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mavlink_log_critical(&mavlink_log_pub, "LOW BATTERY, TAKEOFF DISCOURAGED");
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}
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} else if (!status.usb_connected &&
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battery.warning == battery_status_s::BATTERY_WARNING_CRITICAL &&
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!critical_battery_voltage_actions_done &&
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low_battery_voltage_actions_done) {
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critical_battery_voltage_actions_done = true;
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if (armed.armed) {
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mavlink_and_console_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
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} else {
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mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LAND IMMEDIATELY");
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}
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status_changed = true;
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}
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/* End battery voltage check */
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}
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}
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@@ -2037,34 +2047,6 @@ int commander_thread_main(int argc, char *argv[])
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last_idle_time = system_load.tasks[0].total_runtime;
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}
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/* if battery voltage is getting lower, warn using buzzer, etc. */
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if (status.condition_battery_voltage_valid && status.battery_remaining < 0.18f && !low_battery_voltage_actions_done) {
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low_battery_voltage_actions_done = true;
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if (armed.armed) {
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mavlink_log_critical(&mavlink_log_pub, "LOW BATTERY, RETURN TO LAND ADVISED");
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} else {
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mavlink_log_critical(&mavlink_log_pub, "LOW BATTERY, TAKEOFF DISCOURAGED");
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}
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battery_warning = vehicle_battery_warning::LOW;
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status_changed = true;
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} else if (!status.usb_connected && status.condition_battery_voltage_valid && status.battery_remaining < 0.09f
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&& !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
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/* critical battery voltage, this is rather an emergency, change state machine */
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critical_battery_voltage_actions_done = true;
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battery_warning = vehicle_battery_warning::CRITICAL;
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if (armed.armed) {
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mavlink_and_console_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
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} else {
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mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LAND IMMEDIATELY");
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}
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status_changed = true;
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}
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/* End battery voltage check */
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/* If in INIT state, try to proceed to STANDBY state */
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if (!status.calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
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arming_ret = arming_state_transition(&status,
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@@ -2518,33 +2500,41 @@ int commander_thread_main(int argc, char *argv[])
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}
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}
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/* Check engine failure
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* only for fixed wing for now
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*/
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if (!circuit_breaker_engaged_enginefailure_check &&
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status.is_rotary_wing == false &&
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armed.armed &&
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((actuator_controls.control[3] > ef_throttle_thres &&
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battery.current_a / actuator_controls.control[3] <
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ef_current2throttle_thres) ||
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(status.engine_failure))) {
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/* potential failure, measure time */
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if (timestamp_engine_healthy > 0 &&
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hrt_elapsed_time(×tamp_engine_healthy) >
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ef_time_thres * 1e6 &&
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!status.engine_failure) {
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status.engine_failure = true;
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status_changed = true;
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mavlink_log_critical(&mavlink_log_pub, "Engine Failure");
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}
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/* handle commands last, as the system needs to be updated to handle them */
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orb_check(actuator_controls_sub, &updated);
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} else {
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/* no failure reset flag */
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timestamp_engine_healthy = hrt_absolute_time();
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if (updated) {
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/* got command */
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orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
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if (status.engine_failure) {
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status.engine_failure = false;
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status_changed = true;
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/* Check engine failure
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* only for fixed wing for now
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*/
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if (!circuit_breaker_engaged_enginefailure_check &&
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status.is_rotary_wing == false &&
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armed.armed &&
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((actuator_controls.control[3] > ef_throttle_thres &&
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battery.current_a / actuator_controls.control[3] <
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ef_current2throttle_thres) ||
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(status.engine_failure))) {
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/* potential failure, measure time */
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if (timestamp_engine_healthy > 0 &&
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hrt_elapsed_time(×tamp_engine_healthy) >
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ef_time_thres * 1e6 &&
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!status.engine_failure) {
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status.engine_failure = true;
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status_changed = true;
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mavlink_log_critical(mavlink_fd, "Engine Failure");
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}
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} else {
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/* no failure reset flag */
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timestamp_engine_healthy = hrt_absolute_time();
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if (status.engine_failure) {
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status.engine_failure = false;
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status_changed = true;
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}
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}
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}
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@@ -2711,12 +2701,12 @@ int commander_thread_main(int argc, char *argv[])
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arm_tune_played = true;
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} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
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battery_warning == vehicle_battery_warning::CRITICAL) {
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(battery.warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
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/* play tune on battery critical */
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set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
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} else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
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(battery_warning == vehicle_battery_warning::LOW || status.failsafe)) {
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(battery.warning == battery_status_s::BATTERY_WARNING_LOW)) {
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/* play tune on battery warning or failsafe */
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set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
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@@ -2758,12 +2748,12 @@ int commander_thread_main(int argc, char *argv[])
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/* blinking LED message, don't touch LEDs */
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if (blink_state == 2) {
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/* blinking LED message completed, restore normal state */
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control_status_leds(&status, &armed, true);
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control_status_leds(&status, &armed, true, &battery);
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}
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} else {
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/* normal state */
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control_status_leds(&status, &armed, status_changed);
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control_status_leds(&status, &armed, status_changed, &battery);
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}
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status_changed = false;
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@@ -2829,7 +2819,7 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
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}
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void
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control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed)
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control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed, battery_status_s *battery)
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{
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/* driving rgbled */
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if (changed) {
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@@ -2862,9 +2852,9 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
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/* set color */
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if (status_local->failsafe) {
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rgbled_set_color(RGBLED_COLOR_PURPLE);
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} else if (battery_warning == vehicle_battery_warning::LOW) {
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} else if (battery->warning == battery_status_s::BATTERY_WARNING_LOW) {
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rgbled_set_color(RGBLED_COLOR_AMBER);
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} else if (battery_warning == vehicle_battery_warning::CRITICAL) {
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} else if (battery->warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
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rgbled_set_color(RGBLED_COLOR_RED);
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} else {
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if (status_local->condition_home_position_valid && status_local->condition_global_position_valid) {
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@@ -105,30 +105,6 @@ static DevHandle h_leds;
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static DevHandle h_rgbleds;
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static DevHandle h_buzzer;
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static param_t bat_v_empty_h;
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static param_t bat_v_full_h;
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static param_t bat_n_cells_h;
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static param_t bat_capacity_h;
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static param_t bat_v_load_drop_h;
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static float bat_v_empty = 3.4f;
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static float bat_v_full = 4.2f;
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static float bat_v_load_drop = 0.06f;
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static int bat_n_cells = 3;
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static float bat_capacity = -1.0f;
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static unsigned int counter = 0;
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static float throttle_lowpassed = 0.0f;
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int battery_init()
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{
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bat_v_empty_h = param_find("BAT_V_EMPTY");
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bat_v_full_h = param_find("BAT_V_CHARGED");
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bat_n_cells_h = param_find("BAT_N_CELLS");
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bat_capacity_h = param_find("BAT_CAPACITY");
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bat_v_load_drop_h = param_find("BAT_V_LOAD_DROP");
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return PX4_OK;
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}
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int buzzer_init()
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{
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tune_end = 0;
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@@ -346,51 +322,3 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern)
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h_rgbleds.ioctl(RGBLED_SET_PATTERN, (unsigned long)pattern);
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}
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unsigned battery_get_n_cells() {
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return bat_n_cells;
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}
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float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized)
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{
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float ret = 0;
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if (counter % 100 == 0) {
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param_get(bat_v_empty_h, &bat_v_empty);
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param_get(bat_v_full_h, &bat_v_full);
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param_get(bat_v_load_drop_h, &bat_v_load_drop);
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param_get(bat_n_cells_h, &bat_n_cells);
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param_get(bat_capacity_h, &bat_capacity);
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}
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counter++;
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// XXX this time constant needs to become tunable
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// but really, the right fix are smart batteries.
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float val = throttle_lowpassed * 0.97f + throttle_normalized * 0.03f;
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if (PX4_ISFINITE(val)) {
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throttle_lowpassed = val;
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}
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/* remaining charge estimate based on voltage and internal resistance (drop under load) */
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float bat_v_empty_dynamic = bat_v_empty - (bat_v_load_drop * throttle_lowpassed);
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/* the range from full to empty is the same for batteries under load and without load,
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* since the voltage drop applies to both the full and empty state
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*/
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float voltage_range = (bat_v_full - bat_v_empty);
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float remaining_voltage = (voltage - (bat_n_cells * bat_v_empty_dynamic)) / (bat_n_cells * voltage_range);
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if (bat_capacity > 0.0f) {
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/* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */
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ret = fminf(remaining_voltage, 1.0f - discharged / bat_capacity);
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} else {
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/* else use voltage */
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ret = remaining_voltage;
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}
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/* limit to sane values */
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ret = (ret < 0.0f) ? 0.0f : ret;
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ret = (ret > 1.0f) ? 1.0f : ret;
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return ret;
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}
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@@ -77,21 +77,4 @@ void rgbled_set_color(rgbled_color_t color);
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void rgbled_set_mode(rgbled_mode_t mode);
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void rgbled_set_pattern(rgbled_pattern_t *pattern);
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int battery_init();
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/**
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* Estimate remaining battery charge.
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*
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* Use integral of current if battery capacity known (BAT_CAPACITY parameter set),
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* else use simple estimate based on voltage.
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*
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* @param voltage the current battery voltage
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* @param discharged the discharged capacity
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* @param throttle_normalized the normalized throttle magnitude from 0 to 1. Negative throttle should be converted to this range as well, as it consumes energy.
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* @return the estimated remaining capacity in 0..1
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*/
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float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized);
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unsigned battery_get_n_cells();
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#endif /* COMMANDER_HELPER_H_ */
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@@ -93,87 +93,7 @@ PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
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PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
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/**
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* Empty cell voltage.
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*
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* Defines the voltage where a single cell of the battery is considered empty.
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*
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* @group Battery Calibration
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* @unit V
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
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/**
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* Full cell voltage.
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*
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* Defines the voltage where a single cell of the battery is considered full.
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*
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* @group Battery Calibration
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* @unit V
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
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/**
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* Voltage drop per cell on 100% load
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*
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* This implicitely defines the internal resistance
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* to maximum current ratio and assumes linearity.
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*
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* @group Battery Calibration
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* @unit V
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* @min 0.0
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* @max 1.5
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
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/**
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* Number of cells.
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*
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* Defines the number of cells the attached battery consists of.
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*
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* @group Battery Calibration
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* @unit S
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* @min 2
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* @max 10
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* @value 2 2S Battery
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* @value 3 3S Battery
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* @value 4 4S Battery
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* @value 5 5S Battery
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* @value 6 6S Battery
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* @value 7 7S Battery
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* @value 8 8S Battery
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* @value 9 9S Battery
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* @value 10 10S Battery
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* @value 11 11S Battery
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* @value 12 12S Battery
|
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* @value 13 13S Battery
|
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* @value 14 14S Battery
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* @value 15 15S Battery
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* @value 16 16S Battery
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*/
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PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
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/**
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* Battery capacity.
|
||||
*
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* Defines the capacity of the attached battery.
|
||||
*
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||||
* @group Battery Calibration
|
||||
* @unit mA
|
||||
* @decimal 0
|
||||
* @min -1.0
|
||||
* @max 100000
|
||||
* @increment 50
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
|
||||
|
||||
/**
|
||||
* Datalink loss failsafe.
|
||||
* Datalink loss mode enabled.
|
||||
*
|
||||
* Set to 1 to enable actions triggered when the datalink is lost.
|
||||
*
|
||||
|
||||
Reference in New Issue
Block a user