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battery: reset current filter when transitioning to FW (#22256)

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VTOLs consume a lot more power in hover copared to fixed-wing fligt.
The remaining flight time thus should reset if one switches from MC to FW,
as otherwise it takes several minutes until the estimate goes down.
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Silvan Fuhrer 2024-06-07 09:28:37 +02:00 committed by GitHub
parent 2ce92a678d
commit b53d2cdf39
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1 changed files with 9 additions and 1 deletions
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10
src/lib/battery/battery.cpp
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@ -305,19 +305,27 @@ void Battery::computeScale()
float Battery::computeRemainingTime(float current_a)
{
float time_remaining_s = NAN;
bool reset_current_avg_filter = false;
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.copy(&vehicle_status)) {
_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !_vehicle_status_is_fw) {
reset_current_avg_filter = true;
}
_vehicle_status_is_fw = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
}
}
_flight_phase_estimation_sub.update();
if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON) {
// reset filter if not feasible, negative or we did a VTOL transition to FW mode
if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON
|| reset_current_avg_filter) {
_current_average_filter_a.reset(_params.bat_avrg_current);
}