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Battery: simplify linear voltage relation, currently neglecting the real world voltage drop under load

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Matthias Grob
2018-01-11 08:36:03 +01:00
committed by ChristophTobler
parent bc15fdf267
commit 52e2aecaf1
1 changed files with 4 additions and 6 deletions
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src/modules/systemlib/battery.cpp
+4 -6
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@@ -40,6 +40,7 @@
*/ */
#include "battery.h" #include "battery.h"
#include <mathlib/mathlib.h>
Battery::Battery() : Battery::Battery() :
SuperBlock(nullptr, "BAT"), SuperBlock(nullptr, "BAT"),
@@ -181,13 +182,10 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
bat_v_empty_dynamic -= _param_v_load_drop.get() * thr; 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
const float voltage_range = (_param_v_full.get() - _param_v_empty.get());
// remaining battery capacity based on voltage // remaining battery capacity based on voltage
const float rvoltage = (voltage_v - (_param_n_cells.get() * bat_v_empty_dynamic)) const float cell_voltage = voltage_v / _param_n_cells.get();
/ (_param_n_cells.get() * voltage_range); const float rvoltage = math::gradual(cell_voltage, _param_v_empty.get(), _param_v_full.get(), 0.f, 1.f);
const float rvoltage_filt = _remaining_voltage * 0.99f + rvoltage * 0.01f; const float rvoltage_filt = _remaining_voltage * 0.99f + rvoltage * 0.01f;
if (PX4_ISFINITE(rvoltage_filt)) { if (PX4_ISFINITE(rvoltage_filt)) {