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fix(battery): copy vehicle status states at central place to avoid logic not executed due to previous read

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan 2026-04-10 14:32:35 +02:00 committed by Ramon Roche
parent ca96106f7d
commit 557f693246
2 changed files with 7 additions and 15 deletions
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21
src/lib/battery/battery.cpp
View File

@ -159,6 +159,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
if (_vehicle_status_sub.copy(&vehicle_status)) { if (_vehicle_status_sub.copy(&vehicle_status)) {
_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); _armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
_vehicle_status_is_fw = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
} }
} }
} }
@ -370,29 +371,19 @@ void Battery::computeScale()
float Battery::computeRemainingTime(float current_a) float Battery::computeRemainingTime(float current_a)
{ {
float time_remaining_s = NAN; float time_remaining_s = NAN;
bool reset_current_avg_filter = false;
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.copy(&vehicle_status)) {
if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !_vehicle_status_is_fw) {
reset_current_avg_filter = true;
}
_vehicle_status_is_fw = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
}
}
_flight_phase_estimation_sub.update(); _flight_phase_estimation_sub.update();
bool reset_filter_transition_now = !_vehicle_status_was_fw && _vehicle_status_is_fw;
// reset filter if not feasible, negative or we did a VTOL transition to FW mode // reset filter if not feasible, negative or we did a VTOL transition to FW mode
if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON
|| reset_current_avg_filter) { || reset_filter_transition_now) {
_current_average_filter_a.reset(_params.bat_avrg_current); _current_average_filter_a.reset(_params.bat_avrg_current);
} }
_vehicle_status_was_fw = _vehicle_status_is_fw;
if (_armed && PX4_ISFINITE(current_a)) { if (_armed && PX4_ISFINITE(current_a)) {
// For FW only update when we are in level flight // For FW only update when we are in level flight
if (!_vehicle_status_is_fw || ((hrt_absolute_time() - _flight_phase_estimation_sub.get().timestamp) < 2_s if (!_vehicle_status_is_fw || ((hrt_absolute_time() - _flight_phase_estimation_sub.get().timestamp) < 2_s

1
src/lib/battery/battery.h
View File

@ -202,6 +202,7 @@ private:
hrt_abstime _last_timestamp{0}; hrt_abstime _last_timestamp{0};
bool _armed{false}; bool _armed{false};
bool _vehicle_status_is_fw{false}; bool _vehicle_status_is_fw{false};
bool _vehicle_status_was_fw{false};
hrt_abstime _last_unconnected_timestamp{0}; hrt_abstime _last_unconnected_timestamp{0};
// Internal Resistance estimation // Internal Resistance estimation