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battery: fetch throttle value inside of class

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This commit is contained in:
Matthias Grob
2021-12-07 21:06:51 +01:00
parent ddc6b6bc9c
commit b965923c08
17 changed files with 38 additions and 81 deletions
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src/lib/battery/battery.cpp
+12 -5
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@@ -97,19 +97,17 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us)
}
void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
int source, int priority, float throttle_normalized)
int source, int priority)
{
if (!_battery_initialized) {
_voltage_filter_v.reset(voltage_v);
_current_filter_a.reset(current_a);
_throttle_filter.reset(throttle_normalized);
}
_voltage_filter_v.update(voltage_v);
_current_filter_a.update(current_a);
_throttle_filter.update(throttle_normalized);
sumDischarged(timestamp, current_a);
estimateStateOfCharge(_voltage_filter_v.getState(), _current_filter_a.getState(), _throttle_filter.getState());
estimateStateOfCharge(_voltage_filter_v.getState(), _current_filter_a.getState());
computeScale();
if (connected && _battery_initialized) {
@@ -169,7 +167,7 @@ void Battery::sumDischarged(const hrt_abstime &timestamp, float current_a)
_last_timestamp = timestamp;
}
void Battery::estimateStateOfCharge(const float voltage_v, const float current_a, const float throttle)
void Battery::estimateStateOfCharge(const float voltage_v, const float current_a)
{
// remaining battery capacity based on voltage
float cell_voltage = voltage_v / _params.n_cells;
@@ -179,6 +177,15 @@ void Battery::estimateStateOfCharge(const float voltage_v, const float current_a
cell_voltage += _params.r_internal * current_a;
} else {
actuator_controls_s actuator_controls{};
_actuator_controls_0_sub.copy(&actuator_controls);
const float throttle = actuator_controls.control[actuator_controls_s::INDEX_THROTTLE];
_throttle_filter.update(throttle);
if (!_battery_initialized) {
_throttle_filter.reset(throttle);
}
// assume linear relation between throttle and voltage drop
cell_voltage += throttle * _params.v_load_drop;
}