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Commander: Low-pass battery throttle to better match battery dynamics

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This commit is contained in:
Lorenz Meier
2015-07-04 18:58:12 +02:00
parent cc3c66483c
commit 6e0aa90bb8
1 changed files with 9 additions and 1 deletions
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src/modules/commander/commander_helper.cpp
+9 -1
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@@ -108,6 +108,7 @@ static float bat_v_load_drop = 0.06f;
static int bat_n_cells = 3;
static float bat_capacity = -1.0f;
static unsigned int counter = 0;
static float throttle_lowpassed = 0.0f;
int battery_init()
{
@@ -381,8 +382,15 @@ float battery_remaining_estimate_voltage(float voltage, float discharged, float
counter++;
// XXX this time constant needs to become tunable
// but really, the right fix are smart batteries.
float val = throttle_lowpassed * 0.97f + throttle_normalized * 0.03f;
if (isfinite(val)) {
throttle_lowpassed = val;
}
/* remaining charge estimate based on voltage and internal resistance (drop under load) */
float bat_v_empty_dynamic = bat_v_empty - (bat_v_load_drop * throttle_normalized);
float bat_v_empty_dynamic = bat_v_empty - (bat_v_load_drop * throttle_lowpassed);
/* 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
*/