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Fix battery params to better defaults

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This commit is contained in:
Lorenz Meier
2016-04-29 20:34:32 +02:00
parent c1bf70eea0
commit bf0ea86bd9
1 changed files with 22 additions and 17 deletions
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src/modules/systemlib/battery_params.c
+22 -17
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@@ -43,66 +43,71 @@
#include <systemlib/param/param.h> #include <systemlib/param/param.h>
/** /**
* Empty cell voltage. * Empty cell voltage (5C load)
* *
* Defines the voltage where a single cell of the battery is considered empty. * Defines the voltage where a single cell of the battery is considered empty.
* The voltage should be chosen before the steep dropoff to 2.8V. A typical
* lithium battery can only be discharged down to 10% before it drops off
* to a voltage level damaging the cells.
* *
* @group Battery Calibration * @group Battery Calibration
* @unit V * @unit V
* @decimal 2 * @decimal 2
* @increment 0.01 * @increment 0.01
*/ */
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.35f); PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.5f);
/** /**
* Full cell voltage. * Full cell voltage (5C load)
* *
* Defines the voltage where a single cell of the battery is considered full. * Defines the voltage where a single cell of the battery is considered full
* under a mild load. This will never be the nominal voltage of 4.2V
* *
* @group Battery Calibration * @group Battery Calibration
* @unit V * @unit V
* @decimal 2 * @decimal 2
* @increment 0.01 * @increment 0.01
*/ */
PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f); PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.1f);
/** /**
* Low threshold * Low threshold
* *
* Sets the threshold (between 0 and 1, which is equivalent to between 0 and 100%) * Sets the threshold when the battery will be reported as low.
* when the battery will be reported as low. This has to be higher than the critical * This has to be higher than the critical threshold.
* threshold.
* *
* @group Battery Calibration * @group Battery Calibration
* @unit norm * @unit norm
* @decimal 2 * @decimal 2
* @min 0.15 * @min 0.12
* @max 0.5 * @max 0.4
* @increment 0.01 * @increment 0.01
*/ */
PARAM_DEFINE_FLOAT(BAT_LOW_THR, 0.18f); PARAM_DEFINE_FLOAT(BAT_LOW_THR, 0.15f);
/** /**
* Critical threshold * Critical threshold
* *
* Sets the threshold (between 0 and 1, which is equivalent to between 0 and 100%) * Sets the threshold when the battery will be reported as critically low.
* when the battery will be reported as critically low. This has to be lower than * This has to be lower than the low threshold. This threshold commonly
* the low threshold. This threshold commonly will trigger RTL or landing. * will trigger RTL or landing.
* *
* @group Battery Calibration * @group Battery Calibration
* @unit norm * @unit norm
* @decimal 2 * @decimal 2
* @min 0.05 * @min 0.05
* @max 0.14 * @max 0.1
* @increment 0.01 * @increment 0.01
*/ */
PARAM_DEFINE_FLOAT(BAT_CRIT_THR, 0.09f); PARAM_DEFINE_FLOAT(BAT_CRIT_THR, 0.07f);
/** /**
* Voltage drop per cell on 100% load * Voltage drop per cell on full throttle
* *
* This implicitely defines the internal resistance * This implicitely defines the internal resistance
* to maximum current ratio and assumes linearity. * to maximum current ratio and assumes linearity.
* A good value to use is the difference between the
* 5C and 20-25C load.
* *
* @group Battery Calibration * @group Battery Calibration
* @unit V * @unit V