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Battery: Fix estimate initialization

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On the Intel Aero and probably also other specific platforms
the first measured voltage values despite connected battery are unuasable.
The solution here is to start filtering and determining warning
only after a measurement above 2.1V was received.
This commit is contained in:
Matthias Grob
2018-02-24 16:27:44 +01:00
committed by Lorenz Meier
parent 83ac74367c
commit 611ab577d8
2 changed files with 11 additions and 6 deletions
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src/modules/systemlib/battery.cpp
+8 -4
View File
@@ -89,10 +89,14 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
filterCurrent(current_a);
sumDischarged(timestamp, current_a);
estimateRemaining(_voltage_filtered_v, _current_filtered_a, throttle_normalized, armed);
determineWarning(connected);
computeScale();
if (_battery_initialized) {
determineWarning(connected);
}
if (_voltage_filtered_v > 2.1f) {
_battery_initialized = true;
battery_status->voltage_v = voltage_v;
battery_status->voltage_filtered_v = _voltage_filtered_v;
battery_status->scale = _scale;
@@ -110,7 +114,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
void
Battery::filterVoltage(float voltage_v)
{
if (_voltage_filtered_v < 0.f) {
if (!_battery_initialized) {
_voltage_filtered_v = voltage_v;
}
@@ -125,7 +129,7 @@ Battery::filterVoltage(float voltage_v)
void
Battery::filterCurrent(float current_a)
{
if (_current_filtered_a < 0.f) {
if (!_battery_initialized) {
_current_filtered_a = current_a;
}
@@ -183,7 +187,7 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
// choose which quantity we're using for final reporting
if (_capacity.get() > 0.f) {
// if battery capacity is known, fuse voltage measurement with used capacity
if (_remaining > 1.f) {
if (!_battery_initialized) {
// initialization of the estimation state
_remaining = _remaining_voltage;
src/modules/systemlib/battery.h
+3 -2
View File
@@ -113,12 +113,13 @@ private:
control::BlockParamFloat _crit_thr;
control::BlockParamFloat _emergency_thr;
bool _battery_initialized = false;
float _voltage_filtered_v = -1.f;
float _current_filtered_a = -1.f;
float _discharged_mah = 0.f;
float _discharged_mah_loop = 0.f;
float _remaining_voltage = 1.f; ///< normalized battery charge level remaining based on voltage
float _remaining = 2.f; ///< normalized battery charge level, selected based on config param
float _remaining_voltage = -1.f; ///< normalized battery charge level remaining based on voltage
float _remaining = -1.f; ///< normalized battery charge level, selected based on config param
float _scale = 1.f;
uint8_t _warning;
hrt_abstime _last_timestamp;