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battery: simplify battery scale calculation (#23417)

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chfriedrich98
2024-07-17 12:22:52 +02:00
committed by GitHub
parent 81575049df
commit 8c4620b77e
1 changed files with 4 additions and 9 deletions
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src/lib/battery/battery.cpp
+4 -9
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@@ -339,17 +339,12 @@ uint16_t Battery::determineFaults()
void Battery::computeScale()
{
const float voltage_range = (_params.v_charged - _params.v_empty);
_scale = _params.v_charged / _cell_voltage_filter_v.getState();
// reusing capacity calculation to get single cell voltage before drop
const float bat_v = _params.v_empty + (voltage_range * _state_of_charge_volt_based);
if (PX4_ISFINITE(_scale)) {
_scale = math::constrain(_scale, 1.f, 1.3f); // Allow at most 30% compensation
_scale = _params.v_charged / bat_v;
if (_scale > 1.3f) { // Allow at most 30% compensation
_scale = 1.3f;
} else if (!PX4_ISFINITE(_scale) || _scale < 1.f) { // Shouldn't ever be more than the power at full battery
} else {
_scale = 1.f;
}
}