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feat(battery): enable use of BAT_n_I_OVERWRITE for all battery estimation sources

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan 2026-04-01 20:16:07 +02:00 committed by Ramon Roche
parent df8747eb10
commit 6597c4680c
6 changed files with 38 additions and 52 deletions
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21
src/lib/battery/battery.cpp
View File

@ -87,6 +87,9 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us,
snprintf(param_name, sizeof(param_name), "BAT%d_SOURCE", _index);
_param_handles.source = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_I_OVERWRITE", _index);
_param_handles.i_overwrite = param_find(param_name);
_param_handles.low_thr = param_find("BAT_LOW_THR");
_param_handles.crit_thr = param_find("BAT_CRIT_THR");
_param_handles.emergen_thr = param_find("BAT_EMERGEN_THR");
@ -103,7 +106,13 @@ void Battery::updateVoltage(const float voltage_v)
void Battery::updateCurrent(const float current_a)
{
_current_a = current_a;
// Overwrite the measured current if current overwrite is defined and vehicle is unarmed
if (!_armed && _params.i_overwrite > FLT_EPSILON) {
_current_a = _params.i_overwrite;
} else {
_current_a = current_a;
}
}
void Battery::updateTemperature(const float temperature_c)
@ -144,6 +153,14 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
if (_connected && _battery_initialized) {
_warning = determineWarning(_state_of_charge);
}
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.copy(&vehicle_status)) {
_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
}
}
}
battery_status_s Battery::getBatteryStatus()
@ -359,7 +376,6 @@ float Battery::computeRemainingTime(float current_a)
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.copy(&vehicle_status)) {
_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !_vehicle_status_is_fw) {
reset_current_avg_filter = true;
@ -412,6 +428,7 @@ void Battery::updateParams()
param_get(_param_handles.crit_thr, &_params.crit_thr);
param_get(_param_handles.emergen_thr, &_params.emergen_thr);
param_get(_param_handles.bat_avrg_current, &_params.bat_avrg_current);
param_get(_param_handles.i_overwrite, &_params.i_overwrite);
float capacity{0.f};
param_get(_param_handles.capacity, &capacity);

2
src/lib/battery/battery.h
View File

@ -147,6 +147,7 @@ protected:
param_t emergen_thr;
param_t source;
param_t bat_avrg_current;
param_t i_overwrite;
} _param_handles{};
struct {
@ -159,6 +160,7 @@ protected:
float emergen_thr;
int32_t source;
float bat_avrg_current;
float i_overwrite;
} _params{};
const int _index;

17
src/lib/battery/module.yaml
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@ -126,6 +126,23 @@ parameters:
instance_start: 1
default: [0, -1, -1]
BAT${i}_I_OVERWRITE:
description:
short: Battery ${i} idle current overwrite
long: |
This parameter allows to overwrite the current measured during
idle (unarmed) state with a user-defined constant value (expressed in amperes).
When the system is armed, the measured current is used. This is useful
because on certain ESCs current measurements are inaccurate in case of no load.
Negative values are ignored and will cause the measured current to be used.
The default value of 0 disables the overwrite, in which case the measured value
is always used.
type: float
decimal: 2
num_instances: *max_num_config_instances
instance_start: 1
default: [0, 0, 0]
BAT_LOW_THR:
description:
short: Low threshold.

22
src/modules/battery_status/analog_battery.cpp
View File

@ -67,9 +67,6 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_i
snprintf(param_name, sizeof(param_name), "BAT%d_V_CHANNEL", index);
_analog_param_handles.v_channel = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_I_OVERWRITE", index);
_analog_param_handles.i_overwrite = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_V_FILT", index);
_analog_param_handles.v_filt = param_find(param_name);
@ -102,15 +99,6 @@ AnalogBattery::updateBatteryStatusADC(hrt_abstime timestamp, float voltage_raw,
}
}
// Overwrite the measured current if current overwrite is defined and vehicle is unarmed
if (_analog_params.i_overwrite > 0) {
updateTopics();
if (_arming_state == vehicle_status_s::ARMING_STATE_DISARMED) {
current_a = _analog_params.i_overwrite;
}
}
Battery::setConnected(connected);
Battery::updateVoltage(voltage_v);
Battery::updateCurrent(current_a);
@ -153,7 +141,6 @@ AnalogBattery::updateParams()
param_get(_analog_param_handles.v_div, &_analog_params.v_div);
param_get(_analog_param_handles.a_per_v, &_analog_params.a_per_v);
param_get(_analog_param_handles.v_channel, &_analog_params.v_channel);
param_get(_analog_param_handles.i_overwrite, &_analog_params.i_overwrite);
param_get(_analog_param_handles.v_offs_cur, &_analog_params.v_offs_cur);
param_get(_analog_param_handles.v_filt, &_analog_params.v_filt);
param_get(_analog_param_handles.i_filt, &_analog_params.i_filt);
@ -168,12 +155,3 @@ AnalogBattery::updateParams()
Battery::updateParams();
}
void AnalogBattery::updateTopics()
{
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.update(&vehicle_status)) {
_arming_state = vehicle_status.arming_state;
}
}

9
src/modules/battery_status/analog_battery.h
View File

@ -36,8 +36,6 @@
#include <battery/battery.h>
#include <lib/mathlib/math/filter/AlphaFilter.hpp>
#include <parameters/param.h>
#include <uORB/topics/vehicle_status.h>
class AnalogBattery : public Battery
{
public:
@ -78,7 +76,6 @@ protected:
param_t v_div;
param_t a_per_v;
param_t v_channel;
param_t i_overwrite;
param_t v_filt;
param_t i_filt;
} _analog_param_handles;
@ -88,7 +85,6 @@ protected:
float v_div;
float a_per_v;
int32_t v_channel;
float i_overwrite;
float v_filt;
float i_filt;
} _analog_params;
@ -99,12 +95,7 @@ private:
static constexpr int V_CHANNEL_DISABLED = -2;
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uint8_t _arming_state{0};
hrt_abstime _last_timestamp{0};
AlphaFilter<float> _voltage_filter{};
AlphaFilter<float> _current_filter{};
void updateTopics();
};

19
src/modules/battery_status/module.yaml
View File

@ -51,25 +51,6 @@ parameters:
instance_start: 1
default: [-1, -1]
BAT${i}_I_OVERWRITE:
description:
short: Battery ${i} idle current overwrite
long: |
This parameter allows to overwrite the current measured during
idle (unarmed) state with a user-defined constant value (expressed in amperes).
When the system is armed, the measured current is used. This is useful
because on certain ESCs current measurements are inaccurate in case of no load.
Negative values are ignored and will cause the measured current to be used.
The default value of 0 disables the overwrite, in which case the measured value
is always used.
type: float
decimal: 8
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [0, 0]
BAT${i}_V_FILT:
description:
short: Battery ${i} voltage filter time constant