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Track raw battery voltage and filtered battery voltage separately. Estimate remaining battery as min(voltage_estimate, discharged_estimate). Battery voltage LPF time increased.

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This commit is contained in:
Anton Babushkin
2013-11-11 22:02:55 +04:00
parent e8487b7498
commit 714f5ea634
6 changed files with 57 additions and 68 deletions
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src/modules/sdlog2/sdlog2_messages.h
+2 -1
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@@ -249,6 +249,7 @@ struct log_GVSP_s {
#define LOG_BATT_MSG 20
struct log_BATT_s {
float voltage;
float voltage_filtered;
float current;
float discharged;
};
@@ -296,7 +297,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "fff", "V,C,Discharged"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
/* system-level messages, ID >= 0x80 */
// FMT: don't write format of format message, it's useless
LOG_FORMAT(TIME, "Q", "StartTime"),