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battery: pass connected flag in by setter

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This commit is contained in:
Matthias Grob
2021-12-07 21:06:51 +01:00
parent 38d23f5345
commit 39641494da
10 changed files with 40 additions and 37 deletions
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src/lib/battery/battery.cpp
+4 -4
View File
@@ -97,7 +97,7 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us,
updateParams();
}
void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected)
void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a)
{
if (!_battery_initialized) {
_voltage_filter_v.reset(voltage_v);
@@ -110,7 +110,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
estimateStateOfCharge(_voltage_filter_v.getState(), _current_filter_a.getState());
computeScale();
if (connected && _battery_initialized) {
if (_connected && _battery_initialized) {
_warning = determineWarning(_state_of_charge);
}
@@ -118,7 +118,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
_battery_initialized = true;
} else {
connected = false;
_connected = false;
}
battery_status_s battery_status{};
@@ -133,7 +133,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
battery_status.time_remaining_s = computeRemainingTime(current_a);
battery_status.temperature = NAN;
battery_status.cell_count = _params.n_cells;
battery_status.connected = connected;
battery_status.connected = _connected;
battery_status.source = _source;
battery_status.priority = _priority;
battery_status.capacity = _params.capacity > 0.f ? static_cast<uint16_t>(_params.capacity) : 0;
src/lib/battery/battery.h
+3 -1
View File
@@ -86,6 +86,7 @@ public:
float full_cell_voltage() { return _params.v_charged; }
void setPriority(const uint8_t priority) { _priority = priority; }
void setConnected(const bool connected) { _connected = connected; }
/**
* Update current battery status message.
@@ -94,7 +95,7 @@ public:
* @param current_raw: Battery current, in Amps
* @param timestamp: Time at which the ADC was read (use hrt_absolute_time())
*/
void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected);
void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a);
protected:
struct {
@@ -138,6 +139,7 @@ private:
uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
bool _connected{false};
const uint8_t _source{};
uint8_t _priority{0};
bool _battery_initialized{false};