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Explicit internal battery resistance params

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This commit is contained in:
Dennis Shtatnov
2016-10-10 20:31:14 -04:00
committed by Lorenz Meier
parent a634c14582
commit 37641042cc
5 changed files with 38 additions and 14 deletions
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src/modules/systemlib/battery.cpp
+20 -11
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@@ -81,21 +81,16 @@ Battery::reset(battery_status_s *battery_status)
battery_status->connected = false;
}
// TODO: Distinguish between terminal battery voltage and real battery voltage
void
Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, float throttle_normalized,
bool armed, battery_status_s *battery_status)
{
// what we should do is
// TODO: Add in voltage_term_v
reset(battery_status);
battery_status->timestamp = timestamp;
filterVoltage(voltage_v);
filterCurrent(current_a);
sumDischarged(timestamp, current_a);
estimateRemaining(voltage_v, throttle_normalized, armed);
estimateRemaining(voltage_v, current_a, throttle_normalized, armed);
determineWarning();
computeScale();
@@ -163,13 +158,22 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
}
void
Battery::estimateRemaining(float voltage_v, float throttle_normalized, bool armed)
Battery::estimateRemaining(float voltage_v, float current_a, float throttle_normalized, bool armed)
{
// assume 10% voltage drop of the full drop range with motors idle
const float thr = (armed) ? ((fabsf(throttle_normalized) + 0.1f) / 1.1f) : 0.0f;
const float bat_r = _param_r_internal.get();
// remaining charge estimate based on voltage and internal resistance (drop under load)
const float bat_v_empty_dynamic = _param_v_empty.get() - (_param_v_load_drop.get() * thr);
float bat_v_empty_dynamic = _param_v_empty.get();
if (bat_r >= 0.0f) {
bat_v_empty_dynamic -= current_a * bat_r;
} else {
// assume 10% voltage drop of the full drop range with motors idle
const float thr = (armed) ? ((fabsf(throttle_normalized) + 0.1f) / 1.1f) : 0.0f;
bat_v_empty_dynamic -= _param_v_load_drop.get() * thr;
}
// the range from full to empty is the same for batteries under load and without load,
// since the voltage drop applies to both the full and empty state
@@ -226,7 +230,12 @@ Battery::determineWarning()
void
Battery::computeScale()
{
_scale = (_param_v_full.get() * _param_n_cells.get()) / _voltage_filtered_v;
const float voltage_range = (_param_v_full.get() - _param_v_empty.get());
// reusing capacity calculation to get single cell voltage before drop
const float bat_v = _param_v_empty.get() + (voltage_range * _remaining_voltage);
_scale = _param_v_full.get() / bat_v;
if (_scale > 1.3f) { // Allow at most 30% compensation
_scale = 1.3f;