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Battery: enhanced voltage, capacity estimate fusion, set empty voltage to a useful value for reasonable lipo usage

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Matthias Grob
2017-11-01 16:32:30 +01:00
committed by ChristophTobler
parent 919b6ae239
commit 8c998c1309
3 changed files with 6 additions and 8 deletions
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src/modules/systemlib/battery.cpp
+5 -6
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@@ -58,7 +58,6 @@ Battery::Battery() :
_discharged_mah(0.f),
_discharged_mah_loop(0.f),
_remaining_voltage(1.f),
_remaining_capacity(1.f),
_remaining(2.f),
_scale(1.f),
_warning(battery_status_s::BATTERY_WARNING_NONE),
@@ -187,16 +186,16 @@ 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) {
// remaining battery capacity based on used current integrated time
_remaining_capacity = math::max(1.f - _discharged_mah / _capacity.get(), 0.f);
// if battery capacity is known, fuse voltage measurement with used capacity
if (_remaining > 1.f) {
// initialization of the state
// initialization of the estimation state
_remaining = _remaining_voltage;
} else {
_remaining = 0.9995f * _remaining + 0.0005f * _remaining_voltage;
// The lower the voltage the more adjust the estimate with it to avoid deep discharge
const float weight_v = 3e-4f * (1 - _remaining_voltage);
_remaining = (1 - weight_v) * _remaining + weight_v * _remaining_voltage;
// directly apply current capacity slope calculated using current
_remaining -= _discharged_mah_loop / _capacity.get();
_remaining = math::max(_remaining, 0.f);
}