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battery: weigh voltage based estimate more when it's low

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This is a minimal change to make it harder to crash a
vehicle with an empty battery if the capacity was set wrong.

The disadvantage is that the state of charge estimate will
fluctuate more under load.

We need better documentation and improvements to the estimation.
This commit is contained in:
Matthias Grob 2024-02-15 13:55:18 +01:00
parent 8579175013
commit b87c5285e2
1 changed files with 2 additions and 2 deletions
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4
src/lib/battery/battery.cpp
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@ -239,10 +239,10 @@ float Battery::calculateStateOfChargeVoltageBased(const float voltage_v, const f
void Battery::estimateStateOfCharge()
{
// choose which quantity we're using for final reporting
if (_params.capacity > 0.f && _battery_initialized) {
if ((_params.capacity > 0.f) && _battery_initialized) {
// if battery capacity is known, fuse voltage measurement with used capacity
// The lower the voltage the more adjust the estimate with it to avoid deep discharge
const float weight_v = 3e-4f * (1 - _state_of_charge_volt_based);
const float weight_v = 3e-2f * (1 - _state_of_charge_volt_based);
_state_of_charge = (1 - weight_v) * _state_of_charge + weight_v * _state_of_charge_volt_based;
// directly apply current capacity slope calculated using current
_state_of_charge -= _discharged_mah_loop / _params.capacity;