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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/modules/simulator/simulator.h
+17 -16
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@@ -42,7 +42,7 @@
#pragma once
#include <battery/battery_base.h>
#include <battery/battery.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
@@ -73,6 +73,7 @@
#include <v2.0/common/mavlink.h>
#include <v2.0/mavlink_types.h>
#include <lib/battery/battery.h>
namespace simulator
{
@@ -237,22 +238,22 @@ private:
hrt_abstime _last_sitl_timestamp{0};
hrt_abstime _last_battery_timestamp{0};
// Because the simulator doesn't actually care about the real values of these, just stick
// in some good defaults.
// This is an anonymous class, because BatteryBase is abstract and can't directly be instantiated.
class : public BatteryBase
class : public Battery
{
float _get_bat_v_empty() override { return 3.5; }
float _get_bat_v_charged() override { return 4.05; }
int _get_bat_n_cells() override { return 4; }
float _get_bat_capacity() override { return 10.0; }
float _get_bat_v_load_drop() override { return 0; }
float _get_bat_r_internal() override { return 0; }
float _get_bat_low_thr() override { return 0.15; }
float _get_bat_crit_thr() override { return 0.07; }
float _get_bat_emergen_thr() override { return 0.05; }
int _get_source() override { return 0; }
} _battery {};
virtual void updateParams() override
{
_params.v_empty = 3.5f;
_params.v_charged = 4.05f;
_params.n_cells = 4;
_params.capacity = 10.0f;
_params.v_load_drop = 0.0f;
_params.r_internal = 0.0f;
_params.low_thr = 0.15f;
_params.crit_thr = 0.07f;
_params.emergen_thr = 0.05f;
_params.source = 0;
}
} _battery;
#ifndef __PX4_QURT