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Battery: adapt output constraints to possible values, only calculate remaining capacity if capacity is configured

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This commit is contained in:
Matthias Grob
2017-10-23 17:03:30 +02:00
committed by ChristophTobler
parent 60cc132c8a
commit 9fbd6b912d
1 changed files with 3 additions and 10 deletions
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src/modules/systemlib/battery.cpp
+3 -10
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@@ -183,18 +183,11 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
const float cell_voltage = voltage_v / _n_cells.get();
_remaining_voltage = math::gradual(cell_voltage, _v_empty.get(), _v_charged.get(), 0.f, 1.f);
// remaining battery capacity based on used current integrated time
_remaining_capacity = 1.f - _discharged_mah / _capacity.get();
// limit to sane values
_remaining_voltage = (_remaining_voltage < 0.f) ? 0.f : _remaining_voltage;
_remaining_voltage = (_remaining_voltage > 1.f) ? 1.f : _remaining_voltage;
_remaining_capacity = (_remaining_capacity < 0.f) ? 0.f : _remaining_capacity;
_remaining_capacity = (_remaining_capacity > 1.f) ? 1.f : _remaining_capacity;
// 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, use discharged current for estimate,
// but don't show more than voltage estimate
_remaining = fminf(_remaining_voltage, _remaining_capacity);