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commander: move battery calculations to systemlib

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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
2016-04-11 18:01:47 +02:00
parent 699b08c9fd
commit 32c3135788
21 changed files with 661 additions and 426 deletions
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src/modules/commander/commander_params.c
+1 -81
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@@ -93,87 +93,7 @@ PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
/**
* Empty cell voltage.
*
* Defines the voltage where a single cell of the battery is considered empty.
*
* @group Battery Calibration
* @unit V
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
/**
* Full cell voltage.
*
* Defines the voltage where a single cell of the battery is considered full.
*
* @group Battery Calibration
* @unit V
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
/**
* Voltage drop per cell on 100% load
*
* This implicitely defines the internal resistance
* to maximum current ratio and assumes linearity.
*
* @group Battery Calibration
* @unit V
* @min 0.0
* @max 1.5
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
/**
* Number of cells.
*
* Defines the number of cells the attached battery consists of.
*
* @group Battery Calibration
* @unit S
* @min 2
* @max 10
* @value 2 2S Battery
* @value 3 3S Battery
* @value 4 4S Battery
* @value 5 5S Battery
* @value 6 6S Battery
* @value 7 7S Battery
* @value 8 8S Battery
* @value 9 9S Battery
* @value 10 10S Battery
* @value 11 11S Battery
* @value 12 12S Battery
* @value 13 13S Battery
* @value 14 14S Battery
* @value 15 15S Battery
* @value 16 16S Battery
*/
PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
/**
* Battery capacity.
*
* Defines the capacity of the attached battery.
*
* @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.
*