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Refactored to work with new battery_status module

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This commit is contained in:
Timothy Scott
2019-12-05 16:38:04 +01:00
committed by Julian Oes
parent d7bb5d46bb
commit 993fa5bd37
35 changed files with 1101 additions and 1837 deletions
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src/lib/battery/CMakeLists.txt
+5 -2
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@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -31,4 +31,7 @@
#
############################################################################
px4_add_library(battery battery_base.cpp battery.cpp)
px4_add_library(battery battery.cpp)
# TODO: Add an option in px4_add_library function to add module config file
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/module.yaml)
src/lib/battery/battery.cpp
+343 -8
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@@ -1,14 +1,349 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file battery.cpp
*
* Library calls for battery functionality.
*
* @author Julian Oes <julian@oes.ch>
* @author Timothy Scott <timothy@auterion.com>
*/
#include "battery.h"
#include <mathlib/mathlib.h>
#include <cstring>
#include <px4_platform_common/defines.h>
Battery1::Battery1()
Battery::Battery(int index, ModuleParams *parent) :
ModuleParams(parent),
_index(index < 1 || index > 9 ? 1 : index),
_warning(battery_status_s::BATTERY_WARNING_NONE),
_last_timestamp(0)
{
updateParams();
if (index > 9 || index < 1) {
PX4_ERR("Battery index must be between 1 and 9 (inclusive). Received %d. Defaulting to 1.", index);
}
migrateParam(_param_old_bat_v_empty, _param_bat_v_empty, "V_EMPTY", 3.5f);
migrateParam(_param_old_bat_v_charged, _param_bat_v_charged, "V_CHARGED", 4.05f);
migrateParam(_param_old_bat_v_load_drop, _param_bat_v_load_drop, "V_LOAD_DROP", 0.3f);
migrateParam(_param_old_bat_r_internal, _param_bat_r_internal, "R_INTERNAL", -1.0f);
migrateParam(_param_old_bat_n_cells, _param_bat_n_cells, "N_CELLS", 0);
migrateParam(_param_old_bat_capacity, _param_bat_capacity, "CAPACITY", -1.0f);
// 16 chars for parameter name + null terminator
char param_name[17];
snprintf(param_name, sizeof(param_name), "BAT%d_V_EMPTY", _index);
_param_handles.v_empty = param_find(param_name);
if (_param_handles.v_empty == PARAM_INVALID) {
PX4_ERR("Could not find parameter with name %s", param_name);
}
snprintf(param_name, sizeof(param_name), "BAT%d_V_CHARGED", _index);
_param_handles.v_charged = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_N_CELLS", _index);
_param_handles.n_cells = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_CAPACITY", _index);
_param_handles.capacity = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_V_LOAD_DROP", _index);
_param_handles.v_load_drop = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_R_INTERNAL", _index);
_param_handles.r_internal = param_find(param_name);
snprintf(param_name, sizeof(param_name), "BAT%d_SOURCE", _index);
_param_handles.source = 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");
_param_handles.v_empty_old = param_find("BAT_V_EMPTY");
_param_handles.v_charged_old = param_find("BAT_V_CHARGED");
_param_handles.n_cells_old = param_find("BAT_N_CELLS");
_param_handles.capacity_old = param_find("BAT_CAPACITY");
_param_handles.v_load_drop_old = param_find("BAT_V_LOAD_DROP");
_param_handles.r_internal_old = param_find("BAT_R_INTERNAL");
_param_handles.source_old = param_find("BAT_SOURCE");
updateParams();
}
void
Battery::reset()
{
memset(&_battery_status, 0, sizeof(_battery_status));
_battery_status.current_a = -1.f;
_battery_status.remaining = 1.f;
_battery_status.scale = 1.f;
_battery_status.cell_count = _params.n_cells;
// TODO: check if it is sane to reset warning to NONE
_battery_status.warning = battery_status_s::BATTERY_WARNING_NONE;
_battery_status.connected = false;
_battery_status.capacity = _params.capacity;
_battery_status.temperature = NAN;
_battery_status.id = (uint8_t) _index;
}
void
Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
bool connected, bool selected_source, int priority,
float throttle_normalized,
bool armed, bool should_publish)
{
reset();
_battery_status.timestamp = timestamp;
filterVoltage(voltage_v);
filterThrottle(throttle_normalized);
filterCurrent(current_a);
sumDischarged(timestamp, current_a);
estimateRemaining(_voltage_filtered_v, _current_filtered_a, _throttle_filtered, armed);
computeScale();
if (_battery_initialized) {
determineWarning(connected);
}
if (_voltage_filtered_v > 2.1f) {
_battery_initialized = true;
_battery_status.voltage_v = voltage_v;
_battery_status.voltage_filtered_v = _voltage_filtered_v;
_battery_status.scale = _scale;
_battery_status.current_a = current_a;
_battery_status.current_filtered_a = _current_filtered_a;
_battery_status.discharged_mah = _discharged_mah;
_battery_status.warning = _warning;
_battery_status.remaining = _remaining;
_battery_status.connected = connected;
_battery_status.system_source = selected_source;
_battery_status.priority = priority;
}
_battery_status.timestamp = timestamp;
if (should_publish) {
publish();
}
}
void
Battery::publish()
{
orb_publish_auto(ORB_ID(battery_status), &_orb_advert, &_battery_status, &_orb_instance, ORB_PRIO_DEFAULT);
}
void
Battery::swapUorbAdvert(Battery &other)
{
orb_advert_t tmp = _orb_advert;
_orb_advert = other._orb_advert;
other._orb_advert = tmp;
}
void
Battery::filterVoltage(float voltage_v)
{
if (!_battery_initialized) {
_voltage_filtered_v = voltage_v;
}
// TODO: inspect that filter performance
const float filtered_next = _voltage_filtered_v * 0.99f + voltage_v * 0.01f;
if (PX4_ISFINITE(filtered_next)) {
_voltage_filtered_v = filtered_next;
}
}
void
Battery::filterCurrent(float current_a)
{
if (!_battery_initialized) {
_current_filtered_a = current_a;
}
// ADC poll is at 100Hz, this will perform a low pass over approx 500ms
const float filtered_next = _current_filtered_a * 0.98f + current_a * 0.02f;
if (PX4_ISFINITE(filtered_next)) {
_current_filtered_a = filtered_next;
}
}
void Battery::filterThrottle(float throttle)
{
if (!_battery_initialized) {
_throttle_filtered = throttle;
}
const float filtered_next = _throttle_filtered * 0.99f + throttle * 0.01f;
if (PX4_ISFINITE(filtered_next)) {
_throttle_filtered = filtered_next;
}
}
void
Battery::sumDischarged(hrt_abstime timestamp, float current_a)
{
// Not a valid measurement
if (current_a < 0.f) {
// Because the measurement was invalid we need to stop integration
// and re-initialize with the next valid measurement
_last_timestamp = 0;
return;
}
// Ignore first update because we don't know dt.
if (_last_timestamp != 0) {
const float dt = (timestamp - _last_timestamp) / 1e6;
// mAh since last loop: (current[A] * 1000 = [mA]) * (dt[s] / 3600 = [h])
_discharged_mah_loop = (current_a * 1e3f) * (dt / 3600.f);
_discharged_mah += _discharged_mah_loop;
}
_last_timestamp = timestamp;
}
void
Battery::estimateRemaining(float voltage_v, float current_a, float throttle, bool armed)
{
// remaining battery capacity based on voltage
float cell_voltage = voltage_v / _params.n_cells;
// correct battery voltage locally for load drop to avoid estimation fluctuations
if (_params.r_internal >= 0.f) {
cell_voltage += _params.r_internal * current_a;
} else {
// assume linear relation between throttle and voltage drop
cell_voltage += throttle * _params.v_load_drop;
}
_remaining_voltage = math::gradual(cell_voltage, _params.v_empty, _params.v_charged, 0.f, 1.f);
// choose which quantity we're using for final reporting
if (_params.capacity > 0.f) {
// if battery capacity is known, fuse voltage measurement with used capacity
if (!_battery_initialized) {
// initialization of the estimation state
_remaining = _remaining_voltage;
} else {
// 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 / _params.capacity;
_remaining = math::max(_remaining, 0.f);
}
} else {
// else use voltage
_remaining = _remaining_voltage;
}
}
void
Battery::determineWarning(bool connected)
{
if (connected) {
// propagate warning state only if the state is higher, otherwise remain in current warning state
if (_remaining < _params.emergen_thr) {
_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
} else if (_remaining < _params.crit_thr) {
_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (_remaining < _params.low_thr) {
_warning = battery_status_s::BATTERY_WARNING_LOW;
} else {
_warning = battery_status_s::BATTERY_WARNING_NONE;
}
}
}
void
Battery::computeScale()
{
const float voltage_range = (_params.v_charged - _params.v_empty);
// reusing capacity calculation to get single cell voltage before drop
const float bat_v = _params.v_empty + (voltage_range * _remaining_voltage);
_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
_scale = 1.f;
}
}
void Battery::updateParams()
{
if (_index == 1) {
migrateParam<float>(_param_handles.v_empty_old, _param_handles.v_empty, &_params.v_empty_old, &_params.v_empty,
_first_parameter_update);
migrateParam<float>(_param_handles.v_charged_old, _param_handles.v_charged, &_params.v_charged_old, &_params.v_charged,
_first_parameter_update);
migrateParam<int>(_param_handles.n_cells_old, _param_handles.n_cells, &_params.n_cells_old, &_params.n_cells,
_first_parameter_update);
migrateParam<float>(_param_handles.capacity_old, _param_handles.capacity, &_params.capacity_old, &_params.capacity,
_first_parameter_update);
migrateParam<float>(_param_handles.v_load_drop_old, _param_handles.v_load_drop, &_params.v_load_drop_old,
&_params.v_load_drop, _first_parameter_update);
migrateParam<float>(_param_handles.r_internal_old, _param_handles.r_internal, &_params.r_internal_old,
&_params.r_internal, _first_parameter_update);
migrateParam<int>(_param_handles.source_old, _param_handles.source, &_params.source_old, &_params.source,
_first_parameter_update);
} else {
param_get(_param_handles.v_empty, &_params.v_empty);
param_get(_param_handles.v_charged, &_params.v_charged);
param_get(_param_handles.n_cells, &_params.n_cells);
param_get(_param_handles.capacity, &_params.capacity);
param_get(_param_handles.v_load_drop, &_params.v_load_drop);
param_get(_param_handles.r_internal, &_params.r_internal);
param_get(_param_handles.source, &_params.source);
}
param_get(_param_handles.low_thr, &_params.low_thr);
param_get(_param_handles.crit_thr, &_params.crit_thr);
param_get(_param_handles.emergen_thr, &_params.emergen_thr);
ModuleParams::updateParams();
_first_parameter_update = false;
}
src/lib/battery/battery.h
+204 -133
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@@ -31,157 +31,228 @@
*
****************************************************************************/
#pragma once
#include "battery_base.h"
#include <px4_log.h>
#include <math.h>
/**
* @file battery.h
* Basic implementation of BatteryBase. Battery1 is calibrated by BAT1_* parameters. Battery2 is calibrated
* by BAT2_* parameters.
*
* The multiple batteries all share the same logic for calibration. The only difference is which parameters are used
* (Battery 1 uses `BAT1_*`, while Battery 2 uses `BAT2_*`). To avoid code duplication, inheritance is being used.
* The problem is that the `ModuleParams` class depends on a macro which defines member variables. You can't override
* member variables in C++, so we have to declare virtual getter functions in BatteryBase, and implement them here.
* Library calls for battery functionality.
*
* The alternative would be to avoid ModuleParams entirely, and build parameter names dynamically, like so:
* ```
* char param_name[17]; //16 max length of parameter name, + null terminator
* int battery_index = 1; // Or 2 or 3 or whatever
* snprintf(param_name, 17, "BAT%d_N_CELLS", battery_index);
* param_find(param_name); // etc
* ```
*
* This was decided against because the newer ModuleParams API provides more type safety and avoids code duplication.
*
* To add a third battery, follow these steps:
* - Copy/Paste all of Battery2 to make Battery3
* - Change all "BAT2_*" parameters to "BAT3_*" in Battery3
* - Copy the file "battery_params_2.c" to "battery_params_3.c"
* - Change all of the "BAT2_*" params in "battery_params_3.c" to "BAT3_*"
* This is not done now because there is not yet any demand for a third battery, and adding parameters uses up space.
* @author Julian Oes <julian@oes.ch>
* @author Timothy Scott <timothy@auterion.com>
*/
#pragma once
#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/module_params.h>
#include <parameters/param.h>
#include <drivers/drv_adc.h>
#include <board_config.h>
#include <px4_platform_common/board_common.h>
#include <math.h>
#include <float.h>
/**
* Battery1 represents a battery calibrated by BAT1_* parameters.
* BatteryBase is a base class for any type of battery.
*
* You can use this class on its own. Or, if you need to implement a custom battery type,
* you can inherit from this class. See, for example, src/modules/battery_status/AnalogBattery.h
*/
class Battery1 : public BatteryBase
class Battery : public ModuleParams
{
public:
Battery1();
Battery(int index = 1, ModuleParams *parent = nullptr);
/**
* This function migrates the old deprecated parameters like BAT_N_CELLS to the new parameters like BAT1_N_CELLS.
* It checks if the old parameter is non-defaulT AND the new parameter IS default, and if so, it:
* - Issues a warning using PX4_WARN(...)
* - Copies the value of the old parameter over to the new parameter
* - Resets the old parameter to its default
*
* The 'name' parameter should be only the part of the parameter name that comes after "BAT1_" or "BAT_". It is
* used only for the warning message. For example, for parameter BAT1_N_CELLS, name should be "N_CELLS".
* (See the implementation of this function for why I have taken this strange choice)
*
* In an ideal world, this function would be protected so that only child classes of Battery1 could access it.
* However, the way ModuleParams works makes it very difficult to inherit from a ModuleParams class.
* For example, the AnalogBattery class in the Sensors module does not inherit this class; it just contains
* a Battery1 member variable.
*
* The templating is complicated because every parameter is technically a different type. However, in normal
* use, the template can just be ignored. See the implementation of Battery1::Battery1() for example usage.
*
* @tparam P1 Type of the first parameter
* @tparam P2 Type of the second parameter
* @tparam T Data type for the default value
* @param oldParam Reference to the old parameter, as a ParamFloat<...>, ParamInt<...>, or ParamBool<...>
* @param newParam Reference to the new paramater, as a ParamFloat<...>, ParamInt<...>, or ParamBool<...>
* @param name The name of the parameter, WITHOUT the "BAT_" or "BAT1_" prefix. This is used only for logging.
* @param defaultValue Default value of the parameter, as specified in PARAM_DEFINE_*(...)
* Reset all battery stats and report invalid/nothing.
*/
template<class P1, class P2, typename T> static void
migrateParam(P1 &oldParam, P2 &newParam, const char *name, T defaultValue)
{
float diffOld = fabs((float) oldParam.get() - defaultValue);
float diffNew = fabs((float) newParam.get() - defaultValue);
void reset();
if (diffOld > 0.0001f && diffNew < 0.0001f) {
PX4_WARN("Parameter BAT_%s is deprecated. Copying value to BAT1_%s.", name, name);
newParam.set(oldParam.get());
oldParam.set(defaultValue);
newParam.commit();
oldParam.commit();
/**
* Get the battery cell count
*/
int cell_count() { return _params.n_cells; }
/**
* Get the empty voltage per cell
*/
float empty_cell_voltage() { return _params.v_empty; }
/**
* Get the full voltage per cell
*/
float full_cell_voltage() { return _params.v_charged; }
int source() { return _params.source; }
/**
* Update current battery status message.
*
* @param voltage_raw: Battery voltage, in Volts
* @param current_raw: Battery current, in Amps
* @param timestamp: Time at which the ADC was read (use hrt_absolute_time())
* @param selected_source: This battery is on the brick that the selected source for selected_source
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
* @param throttle_normalized: Throttle of the vehicle, between 0 and 1
* @param armed: Arming state of the vehicle
* @param should_publish If True, this function published a battery_status uORB message.
*/
void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, bool connected,
bool selected_source, int priority, float throttle_normalized, bool armed, bool should_publish);
/**
* Publishes the uORB battery_status message with the most recently-updated data.
*/
void publish();
/**
* Some old functionality expects the primary battery to be published on instance 0. To maintain backwards
* compatibility, this function allows the advertisements (and therefore instances) of 2 batteries to be swapped.
* However, this should not be relied upon anywhere, and should be considered for all intents deprecated.
*
* The proper way to uniquely identify batteries is by the `id` field in the `battery_status` message.
*/
void swapUorbAdvert(Battery &other);
protected:
struct {
param_t v_empty;
param_t v_charged;
param_t n_cells;
param_t capacity;
param_t v_load_drop;
param_t r_internal;
param_t low_thr;
param_t crit_thr;
param_t emergen_thr;
param_t source;
// TODO: These parameters are depracated. They can be removed entirely once the
// new version of Firmware has been around for long enough.
param_t v_empty_old;
param_t v_charged_old;
param_t n_cells_old;
param_t capacity_old;
param_t v_load_drop_old;
param_t r_internal_old;
param_t source_old;
} _param_handles;
struct {
float v_empty;
float v_charged;
int n_cells;
float capacity;
float v_load_drop;
float r_internal;
float low_thr;
float crit_thr;
float emergen_thr;
int source;
// TODO: These parameters are depracated. They can be removed entirely once the
// new version of Firmware has been around for long enough.
float v_empty_old;
float v_charged_old;
int n_cells_old;
float capacity_old;
float v_load_drop_old;
float r_internal_old;
int source_old;
} _params;
battery_status_s _battery_status;
const int _index;
bool _first_parameter_update{false};
virtual void updateParams() override;
/**
* This function helps with migrating to new parameters. It performs several tasks:
* - Update both the old and new parameter values using `param_get(...)`
* - Check if either parameter changed just now
* - If so, display a warning if the deprecated parameter was used
* - Copy the new value over to the other parameter
* - If this is the first time the parameters are fetched, check if they are equal
* - If not, display a warning and copy the value of the deprecated parameter over to the new one
* @tparam T Type of the parameter (int or float)
* @param old_param Handle to the old deprecated parameter (for example, param_find("BAT_N_CELLS")
* @param new_param Handle to the new replacement parameter (for example, param_find("BAT1_N_CELLS")
* @param old_val Pointer to the value of the old deprecated parameter
* @param new_val Pointer to the value of the new replacement parameter
* @param firstcall If true, then this function will not check to see if the values have changed
* (Since the old values are uninitialized)
* @return True iff either of these parameters changed just now and the migration was done.
*/
template<typename T>
bool migrateParam(param_t old_param, param_t new_param, T *old_val, T *new_val, bool firstcall)
{
T previous_old_val = *old_val;
T previous_new_val = *new_val;
param_get(old_param, old_val);
param_get(new_param, new_val);
if (!firstcall) {
if ((float) fabs((float) *old_val - (float) previous_old_val) > FLT_EPSILON
&& (float) fabs((float) *old_val - (float) *new_val) > FLT_EPSILON) {
// TODO fix this error message. I was getting hardfaults while using this message, but they stopped
// after removing this message. I was unable to determine why I was getting them.
PX4_WARN("Detected change of deprecated parameter %s. Please use the new parameter %s instead. "
"The new value of the deprecated parameter will be copied to the new parameter.",
param_name(old_param), param_name(new_param));
param_set_no_notification(new_param, old_val);
param_get(new_param, new_val);
return true;
} else if ((float) fabs((float) *new_val - (float) previous_new_val) > FLT_EPSILON
&& (float) fabs((float) *old_val - (float) *new_val) > FLT_EPSILON) {
PX4_INFO("Copying new value for %s to deprecated parameter %s.",
param_name(new_param), param_name(old_param));
param_set_no_notification(old_param, new_val);
param_get(old_param, old_val);
return true;
}
} else {
if ((float) fabs((float) *old_val - (float) *new_val) > FLT_EPSILON) {
PX4_WARN("At boot, deprecated parameter %s is different from its replacement %s."
" The new value will be overwritten by the old one. This should happen only once.",
param_name(old_param), param_name(new_param));
param_set_no_notification(new_param, old_val);
param_get(new_param, new_val);
return true;
}
}
return false;
}
private:
void filterVoltage(float voltage_v);
void filterThrottle(float throttle);
void filterCurrent(float current_a);
void sumDischarged(hrt_abstime timestamp, float current_a);
void estimateRemaining(float voltage_v, float current_a, float throttle, bool armed);
void determineWarning(bool connected);
void computeScale();
DEFINE_PARAMETERS(
(ParamFloat<px4::params::BAT_V_EMPTY>) _param_old_bat_v_empty,
(ParamFloat<px4::params::BAT_V_CHARGED>) _param_old_bat_v_charged,
(ParamInt<px4::params::BAT_N_CELLS>) _param_old_bat_n_cells,
(ParamFloat<px4::params::BAT_CAPACITY>) _param_old_bat_capacity,
(ParamFloat<px4::params::BAT_V_LOAD_DROP>) _param_old_bat_v_load_drop,
(ParamFloat<px4::params::BAT_R_INTERNAL>) _param_old_bat_r_internal,
bool _battery_initialized = false;
float _voltage_filtered_v = -1.f;
float _throttle_filtered = -1.f;
float _current_filtered_a = -1.f;
float _discharged_mah = 0.f;
float _discharged_mah_loop = 0.f;
float _remaining_voltage = -1.f; ///< normalized battery charge level remaining based on voltage
float _remaining = -1.f; ///< normalized battery charge level, selected based on config param
float _scale = 1.f;
uint8_t _warning;
hrt_abstime _last_timestamp;
(ParamFloat<px4::params::BAT1_V_EMPTY>) _param_bat_v_empty,
(ParamFloat<px4::params::BAT1_V_CHARGED>) _param_bat_v_charged,
(ParamInt<px4::params::BAT1_N_CELLS>) _param_bat_n_cells,
(ParamFloat<px4::params::BAT1_CAPACITY>) _param_bat_capacity,
(ParamFloat<px4::params::BAT1_V_LOAD_DROP>) _param_bat_v_load_drop,
(ParamFloat<px4::params::BAT1_R_INTERNAL>) _param_bat_r_internal,
(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr,
(ParamInt<px4::params::BAT_SOURCE>) _param_source
)
float _get_bat_v_empty() override {return _param_bat_v_empty.get(); }
float _get_bat_v_charged() override {return _param_bat_v_charged.get(); }
int _get_bat_n_cells() override {return _param_bat_n_cells.get(); }
float _get_bat_capacity() override {return _param_bat_capacity.get(); }
float _get_bat_v_load_drop() override {return _param_bat_v_load_drop.get(); }
float _get_bat_r_internal() override {return _param_bat_r_internal.get(); }
float _get_bat_low_thr() override {return _param_bat_low_thr.get(); }
float _get_bat_crit_thr() override {return _param_bat_crit_thr.get(); }
float _get_bat_emergen_thr() override {return _param_bat_emergen_thr.get(); }
int _get_source() override {return _param_source.get(); }
orb_advert_t _orb_advert{nullptr};
int _orb_instance;
};
/**
* Battery2 represents a battery calibrated by BAT2_* parameters.
*/
class Battery2 : public BatteryBase
{
public:
Battery2() {}
private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::BAT2_V_EMPTY>) _param_bat_v_empty,
(ParamFloat<px4::params::BAT2_V_CHARGED>) _param_bat_v_charged,
(ParamInt<px4::params::BAT2_N_CELLS>) _param_bat_n_cells,
(ParamFloat<px4::params::BAT2_CAPACITY>) _param_bat_capacity,
(ParamFloat<px4::params::BAT2_V_LOAD_DROP>) _param_bat_v_load_drop,
(ParamFloat<px4::params::BAT2_R_INTERNAL>) _param_bat_r_internal,
(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr,
(ParamInt<px4::params::BAT_SOURCE>) _param_source
)
float _get_bat_v_empty() override {return _param_bat_v_empty.get(); }
float _get_bat_v_charged() override {return _param_bat_v_charged.get(); }
int _get_bat_n_cells() override {return _param_bat_n_cells.get(); }
float _get_bat_capacity() override {return _param_bat_capacity.get(); }
float _get_bat_v_load_drop() override {return _param_bat_v_load_drop.get(); }
float _get_bat_r_internal() override {return _param_bat_r_internal.get(); }
float _get_bat_low_thr() override {return _param_bat_low_thr.get(); }
float _get_bat_crit_thr() override {return _param_bat_crit_thr.get(); }
float _get_bat_emergen_thr() override {return _param_bat_emergen_thr.get(); }
int _get_source() override {return _param_source.get(); }
};
src/lib/battery/battery_base.cpp
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file battery_base.cpp
*
* Library calls for battery functionality.
*
* @author Julian Oes <julian@oes.ch>
* @author Timothy Scott <timothy@auterion.com>
*/
#include "battery_base.h"
#include <mathlib/mathlib.h>
#include <cstring>
#include <px4_platform_common/defines.h>
BatteryBase::BatteryBase() :
ModuleParams(nullptr),
_warning(battery_status_s::BATTERY_WARNING_NONE),
_last_timestamp(0)
{
}
void
BatteryBase::reset()
{
memset(&_battery_status, 0, sizeof(_battery_status));
_battery_status.current_a = -1.f;
_battery_status.remaining = 1.f;
_battery_status.scale = 1.f;
_battery_status.cell_count = _get_bat_n_cells();
// TODO: check if it is sane to reset warning to NONE
_battery_status.warning = battery_status_s::BATTERY_WARNING_NONE;
_battery_status.connected = false;
_battery_status.capacity = _get_bat_capacity();
}
void
BatteryBase::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, bool connected,
bool selected_source, int priority, float throttle_normalized, bool armed, bool should_publish)
{
reset();
_battery_status.timestamp = timestamp;
filterVoltage(voltage_v);
filterThrottle(throttle_normalized);
filterCurrent(current_a);
sumDischarged(timestamp, current_a);
estimateRemaining(_voltage_filtered_v, _current_filtered_a, _throttle_filtered, armed);
computeScale();
if (_battery_initialized) {
determineWarning(connected);
}
if (_voltage_filtered_v > 2.1f) {
_battery_initialized = true;
_battery_status.voltage_v = voltage_v;
_battery_status.voltage_filtered_v = _voltage_filtered_v;
_battery_status.scale = _scale;
_battery_status.current_a = current_a;
_battery_status.current_filtered_a = _current_filtered_a;
_battery_status.discharged_mah = _discharged_mah;
_battery_status.warning = _warning;
_battery_status.remaining = _remaining;
_battery_status.connected = connected;
_battery_status.system_source = selected_source;
_battery_status.priority = priority;
}
_battery_status.timestamp = timestamp;
if (should_publish) {
publish();
}
_battery_status.temperature = NAN;
}
void
BatteryBase::publish()
{
orb_publish_auto(ORB_ID(battery_status), &_orbAdvert, &_battery_status, &_orbInstance, ORB_PRIO_DEFAULT);
}
void
BatteryBase::filterVoltage(float voltage_v)
{
if (!_battery_initialized) {
_voltage_filtered_v = voltage_v;
}
// TODO: inspect that filter performance
const float filtered_next = _voltage_filtered_v * 0.99f + voltage_v * 0.01f;
if (PX4_ISFINITE(filtered_next)) {
_voltage_filtered_v = filtered_next;
}
}
void
BatteryBase::filterCurrent(float current_a)
{
if (!_battery_initialized) {
_current_filtered_a = current_a;
}
// ADC poll is at 100Hz, this will perform a low pass over approx 500ms
const float filtered_next = _current_filtered_a * 0.98f + current_a * 0.02f;
if (PX4_ISFINITE(filtered_next)) {
_current_filtered_a = filtered_next;
}
}
void BatteryBase::filterThrottle(float throttle)
{
if (!_battery_initialized) {
_throttle_filtered = throttle;
}
const float filtered_next = _throttle_filtered * 0.99f + throttle * 0.01f;
if (PX4_ISFINITE(filtered_next)) {
_throttle_filtered = filtered_next;
}
}
void
BatteryBase::sumDischarged(hrt_abstime timestamp, float current_a)
{
// Not a valid measurement
if (current_a < 0.f) {
// Because the measurement was invalid we need to stop integration
// and re-initialize with the next valid measurement
_last_timestamp = 0;
return;
}
// Ignore first update because we don't know dt.
if (_last_timestamp != 0) {
const float dt = (timestamp - _last_timestamp) / 1e6;
// mAh since last loop: (current[A] * 1000 = [mA]) * (dt[s] / 3600 = [h])
_discharged_mah_loop = (current_a * 1e3f) * (dt / 3600.f);
_discharged_mah += _discharged_mah_loop;
}
_last_timestamp = timestamp;
}
void
BatteryBase::estimateRemaining(float voltage_v, float current_a, float throttle, bool armed)
{
// remaining battery capacity based on voltage
float cell_voltage = voltage_v / _get_bat_n_cells();
// correct battery voltage locally for load drop to avoid estimation fluctuations
if (_get_bat_r_internal() >= 0.f) {
cell_voltage += _get_bat_r_internal() * current_a;
} else {
// assume linear relation between throttle and voltage drop
cell_voltage += throttle * _get_bat_v_load_drop();
}
_remaining_voltage = math::gradual(cell_voltage, _get_bat_v_empty(), _get_bat_v_charged(), 0.f, 1.f);
// choose which quantity we're using for final reporting
if (_get_bat_capacity() > 0.f) {
// if battery capacity is known, fuse voltage measurement with used capacity
if (!_battery_initialized) {
// initialization of the estimation state
_remaining = _remaining_voltage;
} else {
// 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 / _get_bat_capacity();
_remaining = math::max(_remaining, 0.f);
}
} else {
// else use voltage
_remaining = _remaining_voltage;
}
}
void
BatteryBase::determineWarning(bool connected)
{
if (connected) {
// propagate warning state only if the state is higher, otherwise remain in current warning state
if (_remaining < _get_bat_emergen_thr()) {
_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
} else if (_remaining < _get_bat_crit_thr()) {
_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (_remaining < _get_bat_low_thr()) {
_warning = battery_status_s::BATTERY_WARNING_LOW;
} else {
_warning = battery_status_s::BATTERY_WARNING_NONE;
}
}
}
void
BatteryBase::computeScale()
{
const float voltage_range = (_get_bat_v_charged() - _get_bat_v_empty());
// reusing capacity calculation to get single cell voltage before drop
const float bat_v = _get_bat_v_empty() + (voltage_range * _remaining_voltage);
_scale = _get_bat_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
_scale = 1.f;
}
}
src/lib/battery/battery_base.h
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file battery_base.h
*
* Library calls for battery functionality.
*
* @author Julian Oes <julian@oes.ch>
* @author Timothy Scott <timothy@auterion.com>
*/
#pragma once
#include <uORB/uORB.h>
#include <uORB/topics/battery_status.h>
#include <drivers/drv_hrt.h>
#include <px4_module_params.h>
#include <drivers/drv_adc.h>
#include <board_config.h>
#include <drivers/boards/common/board_common.h>
/**
* BatteryBase is a base class for any type of battery.
*
* Each of the virtual _get_*() functions corresponds to a parameter used for calibration. However, depending
* on the type of battery, these values may not come from parameters.
*
* Most implementations of BatteryBase will also inherit ModuleParams, and most of the virtual function
* implementations will look something like:
* float _get_bat_v_empty() override {return _param_bat_v_empty().get();}
*
* For a full implementation, see src/modules/sensors/analog_battery.{cpp, h}
* For a minimal implementation, see src/modules/simulator/simulator.h
*/
class BatteryBase : ModuleParams
{
public:
BatteryBase();
/**
* Reset all battery stats and report invalid/nothing.
*/
void reset();
/**
* Get the battery cell count
*/
int cell_count() { return _get_bat_n_cells(); }
/**
* Get the empty voltage per cell
*/
float empty_cell_voltage() { return _get_bat_v_empty(); }
/**
* Get the full voltage per cell
*/
float full_cell_voltage() { return _get_bat_v_charged(); }
/**
* Update current battery status message.
*
* @param voltage_raw Battery voltage read from ADC, in Volts
* @param current_raw Voltage of current sense resistor, in Amps
* @param timestamp Time at which the ADC was read (use hrt_absolute_time())
* @param selected_source This battery is on the brick that the selected source for selected_source
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
* @param throttle_normalized Throttle of the vehicle, between 0 and 1
* @param armed Arming state of the vehicle
* @param should_publish If True, this function published a battery_status uORB message.
*/
void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, bool connected,
bool selected_source, int priority, float throttle_normalized, bool armed, bool should_publish);
/**
* Publishes the uORB battery_status message with the most recently-updated data.
*/
void publish();
// TODO: Check that there was actually a parameter update
void updateParams() {ModuleParams::updateParams();}
protected:
/**
* @return Value, in volts, at which a single cell of the battery would be considered empty.
*/
virtual float _get_bat_v_empty() = 0;
/**
* @return Value, in volts, at which a single cell of the battery would be considered full.
*/
virtual float _get_bat_v_charged() = 0;
/**
* @return Number of cells in series in the battery.
*/
virtual int _get_bat_n_cells() = 0;
/**
* @return Total capacity of the battery, in mAh
*/
virtual float _get_bat_capacity() = 0;
/**
* @return Voltage drop per cell at full throttle. This implicitly defines the internal resistance of the
* battery. If _get_bat_r_internal() >= to 0, then _get_bat_v_load_drop() is ignored.
*/
virtual float _get_bat_v_load_drop() = 0;
/**
* @return Internal resistance of the battery, in Ohms. If non-negative, then this is used instead of
* _get_bat_v_load_drop().
*/
virtual float _get_bat_r_internal() = 0;
/**
* @return Low battery threshold, as fraction between 0 and 1.
*/
virtual float _get_bat_low_thr() = 0;
/**
* @return Critical battery threshold, as fraction between 0 and 1.
*/
virtual float _get_bat_crit_thr() = 0;
/**
* @return Emergency battery threshold, as fraction between 0 and 1.
*/
virtual float _get_bat_emergen_thr() = 0;
/**
* @return Source of battery data. 0 = internal power module. 1 = external, via Mavlink
*/
virtual int _get_source() = 0;
battery_status_s _battery_status;
private:
void filterVoltage(float voltage_v);
void filterThrottle(float throttle);
void filterCurrent(float current_a);
void sumDischarged(hrt_abstime timestamp, float current_a);
void estimateRemaining(float voltage_v, float current_a, float throttle, bool armed);
void determineWarning(bool connected);
void computeScale();
bool _battery_initialized = false;
float _voltage_filtered_v = -1.f;
float _throttle_filtered = -1.f;
float _current_filtered_a = -1.f;
float _discharged_mah = 0.f;
float _discharged_mah_loop = 0.f;
float _remaining_voltage = -1.f; ///< normalized battery charge level remaining based on voltage
float _remaining = -1.f; ///< normalized battery charge level, selected based on config param
float _scale = 1.f;
uint8_t _warning;
hrt_abstime _last_timestamp;
orb_advert_t _orbAdvert{nullptr};
int _orbInstance;
};
src/lib/battery/battery_params_1.c
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/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file battery_params_1.c
* @author Timothy Scott <timothy@auterion.com>
*
* Defines parameters for Battery 1. For backwards compatibility, the
* parameter names do not have a "1" in them.
*/
#include <px4_platform_common/px4_config.h>
#include <parameters/param.h>
/**
* Empty cell voltage (5C load)
*
* Defines the voltage where a single cell of battery 1 is considered empty.
* The voltage should be chosen before the steep dropoff to 2.8V. A typical
* lithium battery can only be discharged down to 10% before it drops off
* to a voltage level damaging the cells.
*
* @group Battery Calibration
* @unit V
* @decimal 2
* @increment 0.01
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT1_V_EMPTY, 3.5f);
/**
* Full cell voltage (5C load)
*
* Defines the voltage where a single cell of battery 1 is considered full
* under a mild load. This will never be the nominal voltage of 4.2V
*
* @group Battery Calibration
* @unit V
* @decimal 2
* @increment 0.01
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT1_V_CHARGED, 4.05f);
/**
* Voltage drop per cell on full throttle
*
* This implicitely defines the internal resistance
* to maximum current ratio for battery 1 and assumes linearity.
* A good value to use is the difference between the
* 5C and 20-25C load. Not used if BAT1_R_INTERNAL is
* set.
*
* @group Battery Calibration
* @unit V
* @min 0.07
* @max 0.5
* @decimal 2
* @increment 0.01
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT1_V_LOAD_DROP, 0.3f);
/**
* Explicitly defines the per cell internal resistance for battery 1
*
* If non-negative, then this will be used in place of
* BAT1_V_LOAD_DROP for all calculations.
*
* @group Battery Calibration
* @unit Ohms
* @min -1.0
* @max 0.2
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT1_R_INTERNAL, -1.0f);
/**
* Number of cells for battery 1.
*
* Defines the number of cells the attached battery consists of.
*
* @group Battery Calibration
* @unit S
* @value 0 Unconfigured
* @value 2 2S Battery
* @value 3 3S Battery
* @value 4 4S Battery
* @value 5 5S Battery
* @value 6 6S Battery
* @value 7 7S Battery
* @value 8 8S Battery
* @value 9 9S Battery
* @value 10 10S Battery
* @value 11 11S Battery
* @value 12 12S Battery
* @value 13 13S Battery
* @value 14 14S Battery
* @value 15 15S Battery
* @value 16 16S Battery
* @reboot_required true
*/
PARAM_DEFINE_INT32(BAT1_N_CELLS, 0);
/**
* Battery 1 capacity.
*
* Defines the capacity of battery 1.
*
* @group Battery Calibration
* @unit mAh
* @decimal 0
* @min -1.0
* @max 100000
* @increment 50
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT1_CAPACITY, -1.0f);
/**
* Battery 1 voltage divider (V divider)
*
* This is the divider from battery 1 voltage to 3.3V ADC voltage.
* If using e.g. Mauch power modules the value from the datasheet
* can be applied straight here. A value of -1 means to use
* the board default.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT1_V_DIV, -1.0);
/**
* Battery 1 current per volt (A/V)
*
* The voltage seen by the 3.3V ADC multiplied by this factor
* will determine the battery current. A value of -1 means to use
* the board default.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT1_A_PER_V, -1.0);
/**
* Battery 1 ADC Channel
*
* This parameter specifies the ADC channel used to monitor voltage of main power battery.
* A value of -1 means to use the board default.
*
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT1_ADC_CHANNEL, -1);
src/lib/battery/battery_params_2.c
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/****************************************************************************
*
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file battery_params_2.c
* @author Timothy Scott <timothy@auterion.com>
*
* Defines parameters for Battery 2.
*/
/**
* Empty cell voltage (5C load)
*
* Defines the voltage where a single cell of battery 2 is considered empty.
* The voltage should be chosen before the steep dropoff to 2.8V. A typical
* lithium battery can only be discharged down to 10% before it drops off
* to a voltage level damaging the cells.
*
* @group Battery Calibration
* @unit V
* @decimal 2
* @increment 0.01
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT2_V_EMPTY, 3.5f);
/**
* Full cell voltage (5C load)
*
* Defines the voltage where a single cell of battery 2 is considered full
* under a mild load. This will never be the nominal voltage of 4.2V
*
* @group Battery Calibration
* @unit V
* @decimal 2
* @increment 0.01
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT2_V_CHARGED, 4.05f);
/**
* Voltage drop per cell on full throttle
*
* This implicitely defines the internal resistance
* to maximum current ratio for battery 2 and assumes linearity.
* A good value to use is the difference between the
* 5C and 20-25C load. Not used if BAT2_R_INTERNAL is
* set.
*
* @group Battery Calibration
* @unit V
* @min 0.07
* @max 0.5
* @decimal 2
* @increment 0.01
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT2_V_LOAD_DROP, 0.3f);
/**
* Explicitly defines the per cell internal resistance for battery 2
*
* If non-negative, then this will be used in place of
* BAT2_V_LOAD_DROP for all calculations.
*
* @group Battery Calibration
* @unit Ohms
* @min -1.0
* @max 0.2
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT2_R_INTERNAL, -1.0f);
/**
* Number of cells for battery 2.
*
* Defines the number of cells the attached battery consists of.
*
* @group Battery Calibration
* @unit S
* @value 0 Unconfigured
* @value 2 2S Battery
* @value 3 3S Battery
* @value 4 4S Battery
* @value 5 5S Battery
* @value 6 6S Battery
* @value 7 7S Battery
* @value 8 8S Battery
* @value 9 9S Battery
* @value 10 10S Battery
* @value 11 11S Battery
* @value 12 12S Battery
* @value 13 13S Battery
* @value 14 14S Battery
* @value 15 15S Battery
* @value 16 16S Battery
* @reboot_required true
*/
PARAM_DEFINE_INT32(BAT2_N_CELLS, 0);
/**
* Battery 2 capacity.
*
* Defines the capacity of battery 2.
*
* @group Battery Calibration
* @unit mAh
* @decimal 0
* @min -1.0
* @max 100000
* @increment 50
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT2_CAPACITY, -1.0f);
/**
* Battery 2 voltage divider (V divider)
*
* This is the divider from battery 2 voltage to 3.3V ADC voltage.
* If using e.g. Mauch power modules the value from the datasheet
* can be applied straight here. A value of -1 means to use
* the board default.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT2_V_DIV, -1.0);
/**
* Battery 2 current per volt (A/V)
*
* The voltage seen by the 3.3V ADC multiplied by this factor
* will determine the battery current. A value of -1 means to use
* the board default.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT2_A_PER_V, -1.0);
/**
* Battery 2 ADC Channel
*
* This parameter specifies the ADC channel used to monitor voltage of main power battery.
* A value of -1 means to use the board default.
*
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT2_ADC_CHANNEL, -1);
src/lib/battery/battery_params_common.c
-54
View File
@@ -39,10 +39,6 @@
* @author Julian Oes <julian@oes.ch>
*/
#include <px4_config.h>
#include <parameters/param.h>
/**
* Low threshold
*
@@ -92,53 +88,3 @@ PARAM_DEFINE_FLOAT(BAT_CRIT_THR, 0.07f);
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT_EMERGEN_THR, 0.05f);
/**
* Scaling from ADC counts to volt on the ADC input (battery voltage)
*
* This is not the battery voltage, but the intermediate ADC voltage.
* A value of -1 signifies that the board defaults are used, which is
* highly recommended.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_CNT_V_VOLT, -1.0f);
/**
* Scaling from ADC counts to volt on the ADC input (battery current)
*
* This is not the battery current, but the intermediate ADC voltage.
* A value of -1 signifies that the board defaults are used, which is
* highly recommended.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_CNT_V_CURR, -1.0);
/**
* Offset in volt as seen by the ADC input of the current sensor.
*
* This offset will be subtracted before calculating the battery
* current based on the voltage.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_V_OFFS_CURR, 0.0);
/**
* Battery monitoring source.
*
* This parameter controls the source of battery data. The value 'Power Module'
* means that measurements are expected to come from a power module. If the value is set to
* 'External' then the system expects to receive mavlink battery status messages.
*
* @min 0
* @max 1
* @value 0 Power Module
* @value 1 External
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT_SOURCE, 0);
src/lib/battery/battery_params_deprecated.c
+10 -28
View File
@@ -146,36 +146,18 @@ PARAM_DEFINE_INT32(BAT_N_CELLS, 0);
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
/**
* This parameter is deprecated. Please use BAT1_V_DIV instead.
* This parameter is deprecated. Please use BAT1_SOURCE instead.
*
* This is the divider from battery 1 voltage to 3.3V ADC voltage.
* If using e.g. Mauch power modules the value from the datasheet
* can be applied straight here. A value of -1 means to use
* the board default.
* Battery monitoring source.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
/**
* This parameter is deprecated. Please use BAT1_A_PER_V instead.
*
* The voltage seen by the 3.3V ADC multiplied by this factor
* will determine the battery current. A value of -1 means to use
* the board default.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
/**
* This parameter is deprecated. Please use BAT1_ADC_CHANNEL instead.
*
* This parameter specifies the ADC channel used to monitor voltage of main power battery.
* A value of -1 means to use the board default.
* This parameter controls the source of battery data. The value 'Power Module'
* means that measurements are expected to come from a power module. If the value is set to
* 'External' then the system expects to receive mavlink battery status messages.
*
* @min 0
* @max 1
* @value 0 Power Module
* @value 1 External
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT_ADC_CHANNEL, -1);
PARAM_DEFINE_INT32(BAT_SOURCE, 0);
src/lib/battery/module.yaml
+140
View File
@@ -0,0 +1,140 @@
__max_num_config_instances: &max_num_config_instances 2
module_name: battery
parameters:
- group: Battery Calibration
definitions:
BAT${i}_V_EMPTY:
description:
short: Empty cell voltage (5C load)
long: |
Defines the voltage where a single cell of battery 1 is considered empty.
The voltage should be chosen before the steep dropoff to 2.8V. A typical
lithium battery can only be discharged down to 10% before it drops off
to a voltage level damaging the cells.
type: float
unit: V
decimal: 2
increment: 0.01
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [3.5, 3.5]
BAT${i}_V_CHARGED:
description:
short: Full cell voltage (5C load)
long: |
Defines the voltage where a single cell of battery 1 is considered full
under a mild load. This will never be the nominal voltage of 4.2V
type: float
unit: V
decimal: 2
increment: 0.01
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [4.05, 4.05]
BAT${i}_V_LOAD_DROP:
description:
short: Voltage drop per cell on full throttle
long: |
This implicitely defines the internal resistance
to maximum current ratio for battery 1 and assumes linearity.
A good value to use is the difference between the
5C and 20-25C load. Not used if BAT${i}_R_INTERNAL is
set.
type: float
unit: V
min: 0.07
max: 0.5
decimal: 2
increment: 0.01
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [0.3, 0.3]
BAT${i}_R_INTERNAL:
description:
short: Explicitly defines the per cell internal resistance for battery ${i}
long: |
If non-negative, then this will be used in place of
BAT${i}_V_LOAD_DROP for all calculations.
type: float
unit: Ohm
min: -1.0
max: 0.2
decimal: 2
increment: 0.01
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [-1.0, -1.0]
BAT${i}_N_CELLS:
description:
short: Number of cells for battery ${i}.
long: |
Defines the number of cells the attached battery consists of.
type: enum
values:
2: 2S Battery
3: 3S Battery
4: 4S Battery
5: 5S Battery
6: 6S Battery
7: 7S Battery
8: 8S Battery
9: 9S Battery
10: 10S Battery
11: 11S Battery
12: 12S Battery
13: 13S Battery
14: 14S Battery
15: 15S Battery
16: 16S Battery
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [0, 0]
BAT${i}_CAPACITY:
description:
short: Battery ${i} capacity.
long: |
Defines the capacity of battery ${i} in mAh.
type: float
unit: mAh
min: -1.0
max: 100000
decimal: 0
increment: 50
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [-1.0, -1.0]
BAT${i}_SOURCE:
description:
short: Battery ${i} monitoring source.
long: |
This parameter controls the source of battery data. The value 'Power Module'
means that measurements are expected to come from a power module. If the value is set to
'External' then the system expects to receive mavlink battery status messages.
type: enum
unit: mAh
values:
0: Power Module
1: External
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [0, 0]