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Refactored battery library for multiple instances
This commit is contained in:
Timothy Scott
committed by
Julian Oes
Julian Oes
parent
d7b95870b9
commit
bff1df7080
@@ -31,4 +31,4 @@
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#
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############################################################################
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px4_add_library(battery battery.cpp)
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px4_add_library(battery battery_base.cpp)
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+123
-66
@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2016, 2017 PX4 Development Team. All rights reserved.
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -31,69 +31,52 @@
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*
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****************************************************************************/
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/**
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* @file battery.h
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*
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* Library calls for battery functionality.
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#pragma once
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#include <uORB/topics/battery_status.h>
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/module_params.h>
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/**
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* @file battery.h
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* Implementations of BatteryBase
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*
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* The multiple batteries all share the same logic for calibration. The only difference is which parameters are used
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* (Battery 1 uses `BAT_*`, while Battery 2 uses `BAT2_*`). To avoid code duplication, inheritance is being used.
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* The problem is that the `ModuleParams` class depends on a macro which defines member variables. You can't override
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* member variables in C++, so we have to declare virtual getter functions in BatteryBase, and implement them here.
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*
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* The alternative would be to avoid ModuleParams entirely, and build parameter names dynamically, like so:
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* ```
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* char param_name[17]; //16 max length of parameter name, + null terminator
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* int battery_index = 1; // Or 2 or 3 or whatever
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* snprintf(param_name, 17, "BAT%d_N_CELLS", battery_index);
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* // A real implementation would have to handle the case where battery_index == 1 and there is no number in the param name.
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* param_find(param_name); // etc
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* ```
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*
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* This was decided against because the newer ModuleParams API provides more type safety and avoids code duplication.
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*
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* To add a new battery, just create a new implementation of BatteryBase and implement all of the _get_* methods,
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* then add all of the new parameters necessary for calibration.
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*/
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#include "battery_base.h"
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class Battery : public ModuleParams
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class Battery1 : public BatteryBase
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{
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public:
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Battery();
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Battery1() : BatteryBase()
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{
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// Can't do this in the constructor because virtual functions
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if (_get_adc_channel() >= 0) {
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vChannel = _get_adc_channel();
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/**
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* Reset all battery stats and report invalid/nothing.
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*/
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void reset(battery_status_s *battery_status);
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} else {
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vChannel = DEFAULT_V_CHANNEL[0];
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}
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/**
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* Get the battery cell count
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*/
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int cell_count() { return _param_bat_n_cells.get(); }
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/**
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* Get the empty voltage per cell
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*/
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float empty_cell_voltage() { return _param_bat_v_empty.get(); }
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/**
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* Get the full voltage per cell
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*/
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float full_cell_voltage() { return _param_bat_v_charged.get(); }
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/**
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* Update current battery status message.
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*
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* @param voltage_v: current voltage in V
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* @param current_a: current current in A
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* @param connected: Battery is connected
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* @param selected_source: This battery is on the brick that the selected source for selected_source
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* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
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* @param throttle_normalized: throttle from 0 to 1
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*/
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void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
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bool connected, bool selected_source, int priority,
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float throttle_normalized,
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bool armed, battery_status_s *status);
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// TODO: Add parameter, like with V
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iChannel = DEFAULT_I_CHANNEL[0];
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}
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private:
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void filterVoltage(float voltage_v);
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void filterThrottle(float throttle);
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void filterCurrent(float current_a);
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void sumDischarged(hrt_abstime timestamp, float current_a);
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void estimateRemaining(float voltage_v, float current_a, float throttle, bool armed);
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void determineWarning(bool connected);
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void computeScale();
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::BAT_V_EMPTY>) _param_bat_v_empty,
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@@ -102,20 +85,94 @@ private:
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(ParamFloat<px4::params::BAT_CAPACITY>) _param_bat_capacity,
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(ParamFloat<px4::params::BAT_V_LOAD_DROP>) _param_bat_v_load_drop,
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(ParamFloat<px4::params::BAT_R_INTERNAL>) _param_bat_r_internal,
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(ParamFloat<px4::params::BAT_V_DIV>) _param_v_div,
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(ParamFloat<px4::params::BAT_A_PER_V>) _param_a_per_v,
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(ParamInt<px4::params::BAT_ADC_CHANNEL>) _param_adc_channel,
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(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
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(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
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(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr
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(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr,
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(ParamFloat<px4::params::BAT_CNT_V_VOLT>) _param_cnt_v_volt,
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(ParamFloat<px4::params::BAT_CNT_V_CURR>) _param_cnt_v_curr,
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(ParamFloat<px4::params::BAT_V_OFFS_CURR>) _param_v_offs_cur,
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(ParamInt<px4::params::BAT_SOURCE>) _param_source
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)
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bool _battery_initialized = false;
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float _voltage_filtered_v = -1.f;
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float _throttle_filtered = -1.f;
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float _current_filtered_a = -1.f;
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float _discharged_mah = 0.f;
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float _discharged_mah_loop = 0.f;
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float _remaining_voltage = -1.f; ///< normalized battery charge level remaining based on voltage
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float _remaining = -1.f; ///< normalized battery charge level, selected based on config param
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float _scale = 1.f;
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uint8_t _warning;
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hrt_abstime _last_timestamp;
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float _get_bat_v_empty() override {return _param_bat_v_empty.get(); }
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float _get_bat_v_charged() override {return _param_bat_v_charged.get(); }
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int _get_bat_n_cells() override {return _param_bat_n_cells.get(); }
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float _get_bat_capacity() override {return _param_bat_capacity.get(); }
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float _get_bat_v_load_drop() override {return _param_bat_v_load_drop.get(); }
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float _get_bat_r_internal() override {return _param_bat_r_internal.get(); }
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float _get_bat_low_thr() override {return _param_bat_low_thr.get(); }
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float _get_bat_crit_thr() override {return _param_bat_crit_thr.get(); }
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float _get_bat_emergen_thr() override {return _param_bat_emergen_thr.get(); }
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float _get_cnt_v_volt_raw() override {return _param_cnt_v_volt.get(); }
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float _get_cnt_v_curr_raw() override {return _param_cnt_v_curr.get(); }
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float _get_v_offs_cur() override {return _param_v_offs_cur.get(); }
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float _get_v_div_raw() override {return _param_v_div.get(); }
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float _get_a_per_v_raw() override {return _param_a_per_v.get(); }
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int _get_source() override {return _param_source.get(); }
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int _get_adc_channel() override {return _param_adc_channel.get(); }
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int _get_brick_index() override {return 0; }
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};
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class Battery2 : public BatteryBase
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{
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public:
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Battery2() : BatteryBase()
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{
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// Can't do this in the constructor because virtual functions
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if (_get_adc_channel() >= 0) {
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vChannel = _get_adc_channel();
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} else {
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vChannel = DEFAULT_V_CHANNEL[1];
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}
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// TODO: Add parameter, like with V
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iChannel = DEFAULT_I_CHANNEL[1];
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}
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private:
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::BAT2_V_EMPTY>) _param_bat_v_empty,
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(ParamFloat<px4::params::BAT2_V_CHARGED>) _param_bat_v_charged,
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(ParamInt<px4::params::BAT2_N_CELLS>) _param_bat_n_cells,
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(ParamFloat<px4::params::BAT2_CAPACITY>) _param_bat_capacity,
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(ParamFloat<px4::params::BAT2_V_LOAD_DROP>) _param_bat_v_load_drop,
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(ParamFloat<px4::params::BAT2_R_INTERNAL>) _param_bat_r_internal,
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(ParamFloat<px4::params::BAT2_V_DIV>) _param_v_div,
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(ParamFloat<px4::params::BAT2_A_PER_V>) _param_a_per_v,
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(ParamInt<px4::params::BAT2_ADC_CHANNEL>) _param_adc_channel,
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(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
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(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
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(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr,
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(ParamFloat<px4::params::BAT_CNT_V_VOLT>) _param_cnt_v_volt,
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(ParamFloat<px4::params::BAT_CNT_V_CURR>) _param_cnt_v_curr,
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(ParamFloat<px4::params::BAT_V_OFFS_CURR>) _param_v_offs_cur,
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(ParamInt<px4::params::BAT_SOURCE>) _param_source
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)
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float _get_bat_v_empty() override {return _param_bat_v_empty.get(); }
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float _get_bat_v_charged() override {return _param_bat_v_charged.get(); }
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int _get_bat_n_cells() override {return _param_bat_n_cells.get(); }
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float _get_bat_capacity() override {return _param_bat_capacity.get(); }
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float _get_bat_v_load_drop() override {return _param_bat_v_load_drop.get(); }
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float _get_bat_r_internal() override {return _param_bat_r_internal.get(); }
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float _get_bat_low_thr() override {return _param_bat_low_thr.get(); }
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float _get_bat_crit_thr() override {return _param_bat_crit_thr.get(); }
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float _get_bat_emergen_thr() override {return _param_bat_emergen_thr.get(); }
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float _get_cnt_v_volt_raw() override {return _param_cnt_v_volt.get(); }
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float _get_cnt_v_curr_raw() override {return _param_cnt_v_curr.get(); }
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float _get_v_offs_cur() override {return _param_v_offs_cur.get(); }
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float _get_v_div_raw() override {return _param_v_div.get(); }
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float _get_a_per_v_raw() override {return _param_a_per_v.get(); }
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int _get_source() override {return _param_source.get(); }
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int _get_adc_channel() override {return _param_adc_channel.get(); }
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int _get_brick_index() override {return 1; }
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};
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -32,19 +32,20 @@
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****************************************************************************/
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/**
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* @file battery.cpp
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* @file battery_base.cpp
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*
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* Library calls for battery functionality.
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*
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* @author Julian Oes <julian@oes.ch>
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* @author Timothy Scott <timothy@auterion.com>
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*/
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#include "battery.h"
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#include "battery_base.h"
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#include <mathlib/mathlib.h>
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#include <cstring>
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#include <px4_platform_common/defines.h>
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Battery::Battery() :
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BatteryBase::BatteryBase() :
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ModuleParams(nullptr),
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_warning(battery_status_s::BATTERY_WARNING_NONE),
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_last_timestamp(0)
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@@ -52,26 +53,44 @@ Battery::Battery() :
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}
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void
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Battery::reset(battery_status_s *battery_status)
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BatteryBase::reset()
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{
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memset(battery_status, 0, sizeof(*battery_status));
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battery_status->current_a = -1.f;
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battery_status->remaining = 1.f;
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battery_status->scale = 1.f;
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battery_status->cell_count = _param_bat_n_cells.get();
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memset(&_battery_status, 0, sizeof(_battery_status));
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_battery_status.current_a = -1.f;
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_battery_status.remaining = 1.f;
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_battery_status.scale = 1.f;
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_battery_status.cell_count = _get_bat_n_cells();
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// TODO: check if it is sane to reset warning to NONE
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battery_status->warning = battery_status_s::BATTERY_WARNING_NONE;
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battery_status->connected = false;
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_battery_status.warning = battery_status_s::BATTERY_WARNING_NONE;
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_battery_status.connected = false;
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}
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void
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Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
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bool connected, bool selected_source, int priority,
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float throttle_normalized,
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bool armed, battery_status_s *battery_status)
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BatteryBase::updateBatteryStatusRawADC(int32_t voltage_raw, int32_t current_raw, hrt_abstime timestamp,
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bool selected_source, int priority,
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float throttle_normalized,
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bool armed)
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{
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reset(battery_status);
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battery_status->timestamp = timestamp;
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float voltage_v = (voltage_raw * _get_cnt_v_volt()) * _get_v_div();
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float current_a = ((current_raw * _get_cnt_v_curr()) - _get_v_offs_cur()) * _get_a_per_v();
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updateBatteryStatus(voltage_v, current_a, timestamp, selected_source, priority, throttle_normalized, armed);
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}
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void
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BatteryBase::updateBatteryStatus(float voltage_v, float current_a, hrt_abstime timestamp,
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bool selected_source, int priority,
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float throttle_normalized,
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bool armed)
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{
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updateParams();
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bool connected = voltage_v > BOARD_ADC_OPEN_CIRCUIT_V &&
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(BOARD_ADC_OPEN_CIRCUIT_V <= BOARD_VALID_UV || is_valid());
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reset();
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_battery_status.timestamp = timestamp;
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filterVoltage(voltage_v);
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filterThrottle(throttle_normalized);
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filterCurrent(current_a);
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@@ -85,24 +104,30 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
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if (_voltage_filtered_v > 2.1f) {
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_battery_initialized = true;
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battery_status->voltage_v = voltage_v;
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battery_status->voltage_filtered_v = _voltage_filtered_v;
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battery_status->scale = _scale;
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battery_status->current_a = current_a;
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battery_status->current_filtered_a = _current_filtered_a;
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battery_status->discharged_mah = _discharged_mah;
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battery_status->warning = _warning;
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battery_status->remaining = _remaining;
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battery_status->connected = connected;
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battery_status->system_source = selected_source;
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battery_status->priority = priority;
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_battery_status.voltage_v = voltage_v;
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_battery_status.voltage_filtered_v = _voltage_filtered_v;
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_battery_status.scale = _scale;
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_battery_status.current_a = current_a;
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_battery_status.current_filtered_a = _current_filtered_a;
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_battery_status.discharged_mah = _discharged_mah;
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_battery_status.warning = _warning;
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_battery_status.remaining = _remaining;
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_battery_status.connected = connected;
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_battery_status.system_source = selected_source;
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_battery_status.priority = priority;
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}
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_battery_status.timestamp = timestamp;
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if (_get_source() == 0) {
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orb_publish_auto(ORB_ID(battery_status), &_orbAdvert, &_battery_status, &_orbInstance, ORB_PRIO_DEFAULT);
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}
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battery_status->temperature = NAN;
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}
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void
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Battery::filterVoltage(float voltage_v)
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BatteryBase::filterVoltage(float voltage_v)
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{
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if (!_battery_initialized) {
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_voltage_filtered_v = voltage_v;
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@@ -117,7 +142,7 @@ Battery::filterVoltage(float voltage_v)
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}
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void
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Battery::filterCurrent(float current_a)
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BatteryBase::filterCurrent(float current_a)
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{
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if (!_battery_initialized) {
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_current_filtered_a = current_a;
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@@ -131,7 +156,7 @@ Battery::filterCurrent(float current_a)
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}
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}
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void Battery::filterThrottle(float throttle)
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void BatteryBase::filterThrottle(float throttle)
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{
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if (!_battery_initialized) {
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_throttle_filtered = throttle;
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@@ -145,7 +170,7 @@ void Battery::filterThrottle(float throttle)
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}
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void
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Battery::sumDischarged(hrt_abstime timestamp, float current_a)
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BatteryBase::sumDischarged(hrt_abstime timestamp, float current_a)
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{
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// Not a valid measurement
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if (current_a < 0.f) {
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@@ -167,24 +192,24 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
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}
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void
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Battery::estimateRemaining(float voltage_v, float current_a, float throttle, bool armed)
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BatteryBase::estimateRemaining(float voltage_v, float current_a, float throttle, bool armed)
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{
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// remaining battery capacity based on voltage
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float cell_voltage = voltage_v / _param_bat_n_cells.get();
|
||||
float cell_voltage = voltage_v / _get_bat_n_cells();
|
||||
|
||||
// correct battery voltage locally for load drop to avoid estimation fluctuations
|
||||
if (_param_bat_r_internal.get() >= 0.f) {
|
||||
cell_voltage += _param_bat_r_internal.get() * current_a;
|
||||
if (_get_bat_r_internal() >= 0.f) {
|
||||
cell_voltage += _get_bat_r_internal() * current_a;
|
||||
|
||||
} else {
|
||||
// assume linear relation between throttle and voltage drop
|
||||
cell_voltage += throttle * _param_bat_v_load_drop.get();
|
||||
cell_voltage += throttle * _get_bat_v_load_drop();
|
||||
}
|
||||
|
||||
_remaining_voltage = math::gradual(cell_voltage, _param_bat_v_empty.get(), _param_bat_v_charged.get(), 0.f, 1.f);
|
||||
_remaining_voltage = math::gradual(cell_voltage, _get_bat_v_empty(), _get_bat_v_charged(), 0.f, 1.f);
|
||||
|
||||
// choose which quantity we're using for final reporting
|
||||
if (_param_bat_capacity.get() > 0.f) {
|
||||
if (_get_bat_capacity() > 0.f) {
|
||||
// if battery capacity is known, fuse voltage measurement with used capacity
|
||||
if (!_battery_initialized) {
|
||||
// initialization of the estimation state
|
||||
@@ -195,7 +220,7 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle, boo
|
||||
const float weight_v = 3e-4f * (1 - _remaining_voltage);
|
||||
_remaining = (1 - weight_v) * _remaining + weight_v * _remaining_voltage;
|
||||
// directly apply current capacity slope calculated using current
|
||||
_remaining -= _discharged_mah_loop / _param_bat_capacity.get();
|
||||
_remaining -= _discharged_mah_loop / _get_bat_capacity();
|
||||
_remaining = math::max(_remaining, 0.f);
|
||||
}
|
||||
|
||||
@@ -206,17 +231,17 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle, boo
|
||||
}
|
||||
|
||||
void
|
||||
Battery::determineWarning(bool connected)
|
||||
BatteryBase::determineWarning(bool connected)
|
||||
{
|
||||
if (connected) {
|
||||
// propagate warning state only if the state is higher, otherwise remain in current warning state
|
||||
if (_remaining < _param_bat_emergen_thr.get()) {
|
||||
if (_remaining < _get_bat_emergen_thr()) {
|
||||
_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
|
||||
|
||||
} else if (_remaining < _param_bat_crit_thr.get()) {
|
||||
} else if (_remaining < _get_bat_crit_thr()) {
|
||||
_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
|
||||
|
||||
} else if (_remaining < _param_bat_low_thr.get()) {
|
||||
} else if (_remaining < _get_bat_low_thr()) {
|
||||
_warning = battery_status_s::BATTERY_WARNING_LOW;
|
||||
|
||||
} else {
|
||||
@@ -226,14 +251,14 @@ Battery::determineWarning(bool connected)
|
||||
}
|
||||
|
||||
void
|
||||
Battery::computeScale()
|
||||
BatteryBase::computeScale()
|
||||
{
|
||||
const float voltage_range = (_param_bat_v_charged.get() - _param_bat_v_empty.get());
|
||||
const float voltage_range = (_get_bat_v_charged() - _get_bat_v_empty());
|
||||
|
||||
// reusing capacity calculation to get single cell voltage before drop
|
||||
const float bat_v = _param_bat_v_empty.get() + (voltage_range * _remaining_voltage);
|
||||
const float bat_v = _get_bat_v_empty() + (voltage_range * _remaining_voltage);
|
||||
|
||||
_scale = _param_bat_v_charged.get() / bat_v;
|
||||
_scale = _get_bat_v_charged() / bat_v;
|
||||
|
||||
if (_scale > 1.3f) { // Allow at most 30% compensation
|
||||
_scale = 1.3f;
|
||||
@@ -242,3 +267,55 @@ Battery::computeScale()
|
||||
_scale = 1.f;
|
||||
}
|
||||
}
|
||||
|
||||
float
|
||||
BatteryBase::_get_cnt_v_volt()
|
||||
{
|
||||
float val = _get_cnt_v_volt_raw();
|
||||
|
||||
if (val < 0.0f) {
|
||||
return 3.3f / 4096.0f;
|
||||
|
||||
} else {
|
||||
return val;
|
||||
}
|
||||
}
|
||||
|
||||
float
|
||||
BatteryBase::_get_cnt_v_curr()
|
||||
{
|
||||
float val = _get_cnt_v_curr_raw();
|
||||
|
||||
if (val < 0.0f) {
|
||||
return 3.3f / 4096.0f;
|
||||
|
||||
} else {
|
||||
return val;
|
||||
}
|
||||
}
|
||||
|
||||
float
|
||||
BatteryBase::_get_v_div()
|
||||
{
|
||||
float val = _get_v_div_raw();
|
||||
|
||||
if (val <= 0.0f) {
|
||||
return BOARD_BATTERY1_V_DIV;
|
||||
|
||||
} else {
|
||||
return val;
|
||||
}
|
||||
}
|
||||
|
||||
float
|
||||
BatteryBase::_get_a_per_v()
|
||||
{
|
||||
float val = _get_a_per_v_raw();
|
||||
|
||||
if (val <= 0.0f) {
|
||||
return BOARD_BATTERY1_A_PER_V;
|
||||
|
||||
} else {
|
||||
return val;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,199 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file battery_base.h
|
||||
*
|
||||
* Library calls for battery functionality.
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Timothy Scott <timothy@auterion.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_module_params.h>
|
||||
#include <drivers/drv_adc.h>
|
||||
#include <board_config.h>
|
||||
#include <drivers/boards/common/board_common.h>
|
||||
|
||||
/**
|
||||
* BatteryBase is a base class for any type of battery.
|
||||
*
|
||||
* See battery.h for example implementation, and for explanation of why this is designed like it is.
|
||||
*/
|
||||
class BatteryBase : ModuleParams
|
||||
{
|
||||
public:
|
||||
BatteryBase();
|
||||
|
||||
/**
|
||||
* Reset all battery stats and report invalid/nothing.
|
||||
*/
|
||||
void reset();
|
||||
|
||||
/**
|
||||
* Get the battery cell count
|
||||
*/
|
||||
int cell_count() { return _get_bat_n_cells(); }
|
||||
|
||||
/**
|
||||
* Get the empty voltage per cell
|
||||
*/
|
||||
float empty_cell_voltage() { return _get_bat_v_empty(); }
|
||||
|
||||
/**
|
||||
* Get the full voltage per cell
|
||||
*/
|
||||
float full_cell_voltage() { return _get_bat_v_charged(); }
|
||||
|
||||
/**
|
||||
* Update current battery status message.
|
||||
*
|
||||
* @param voltage_raw Battery voltage read from ADC, in raw ADC counts
|
||||
* @param current_raw Voltage of current sense resistor, in raw ADC counts
|
||||
* @param timestamp Time at which the ADC was read (use hrt_absolute_time())
|
||||
* @param selected_source This battery is on the brick that the selected source for selected_source
|
||||
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
|
||||
* @param throttle_normalized Throttle of the vehicle, between 0 and 1
|
||||
* @param armed Arming state of the vehicle
|
||||
*/
|
||||
void updateBatteryStatusRawADC(int32_t voltage_raw, int32_t current_raw, hrt_abstime timestamp,
|
||||
bool selected_source, int priority, float throttle_normalized, bool armed);
|
||||
|
||||
/**
|
||||
* Update current battery status message.
|
||||
*
|
||||
* @param voltage_raw Battery voltage read from ADC, in Volts
|
||||
* @param current_raw Voltage of current sense resistor, in Amps
|
||||
* @param timestamp Time at which the ADC was read (use hrt_absolute_time())
|
||||
* @param selected_source This battery is on the brick that the selected source for selected_source
|
||||
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
|
||||
* @param throttle_normalized Throttle of the vehicle, between 0 and 1
|
||||
* @param armed Arming state of the vehicle
|
||||
*/
|
||||
void updateBatteryStatus(float voltage_v, float current_a, hrt_abstime timestamp,
|
||||
bool selected_source, int priority, float throttle_normalized, bool armed);
|
||||
|
||||
/**
|
||||
* Which ADC channel is used for voltage reading of this battery
|
||||
*/
|
||||
int vChannel{-1};
|
||||
/**
|
||||
* Which ADC channel is used for current reading of this battery
|
||||
*/
|
||||
int iChannel{-1};
|
||||
|
||||
/**
|
||||
* Whether the ADC channel for the voltage of this battery is valid.
|
||||
* Corresponds to BOARD_BRICK_VALID_LIST
|
||||
*/
|
||||
bool is_valid()
|
||||
{
|
||||
#ifdef BOARD_BRICK_VALID_LIST
|
||||
bool valid[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
|
||||
return valid[_get_brick_index()];
|
||||
#else
|
||||
return true;
|
||||
#endif
|
||||
}
|
||||
|
||||
protected:
|
||||
// Defaults to use if the parameters are not set
|
||||
#if BOARD_NUMBER_BRICKS > 0
|
||||
#if defined(BOARD_BATT_V_LIST) && defined(BOARD_BATT_I_LIST)
|
||||
static constexpr int DEFAULT_V_CHANNEL[BOARD_NUMBER_BRICKS] = BOARD_BATT_V_LIST;
|
||||
static constexpr int DEFAULT_I_CHANNEL[BOARD_NUMBER_BRICKS] = BOARD_BATT_I_LIST;
|
||||
#else
|
||||
static constexpr int DEFAULT_V_CHANNEL[BOARD_NUMBER_BRICKS] = {0};
|
||||
static constexpr int DEFAULT_I_CHANNEL[BOARD_NUMBER_BRICKS] = {0};
|
||||
#endif
|
||||
#else
|
||||
static constexpr int DEFAULT_V_CHANNEL[0] = {};
|
||||
static constexpr int DEFAULT_I_CHANNEL[0] = {};
|
||||
#endif
|
||||
|
||||
// The following are all of the parameters needed for the batteries.
|
||||
// See battery.h for example implementation.
|
||||
virtual float _get_bat_v_empty() = 0;
|
||||
virtual float _get_bat_v_charged() = 0;
|
||||
virtual int _get_bat_n_cells() = 0;
|
||||
virtual float _get_bat_capacity() = 0;
|
||||
virtual float _get_bat_v_load_drop() = 0;
|
||||
virtual float _get_bat_r_internal() = 0;
|
||||
virtual float _get_bat_low_thr() = 0;
|
||||
virtual float _get_bat_crit_thr() = 0;
|
||||
virtual float _get_bat_emergen_thr() = 0;
|
||||
virtual float _get_cnt_v_volt_raw() = 0;
|
||||
virtual float _get_cnt_v_curr_raw() = 0;
|
||||
virtual float _get_v_offs_cur() = 0;
|
||||
virtual float _get_v_div_raw() = 0;
|
||||
virtual float _get_a_per_v_raw() = 0;
|
||||
virtual int _get_source() = 0;
|
||||
virtual int _get_adc_channel() = 0;
|
||||
|
||||
virtual int _get_brick_index() = 0;
|
||||
|
||||
float _get_cnt_v_volt();
|
||||
float _get_cnt_v_curr();
|
||||
float _get_v_div();
|
||||
float _get_a_per_v();
|
||||
|
||||
private:
|
||||
void filterVoltage(float voltage_v);
|
||||
void filterThrottle(float throttle);
|
||||
void filterCurrent(float current_a);
|
||||
void sumDischarged(hrt_abstime timestamp, float current_a);
|
||||
void estimateRemaining(float voltage_v, float current_a, float throttle, bool armed);
|
||||
void determineWarning(bool connected);
|
||||
void computeScale();
|
||||
|
||||
bool _battery_initialized = false;
|
||||
float _voltage_filtered_v = -1.f;
|
||||
float _throttle_filtered = -1.f;
|
||||
float _current_filtered_a = -1.f;
|
||||
float _discharged_mah = 0.f;
|
||||
float _discharged_mah_loop = 0.f;
|
||||
float _remaining_voltage = -1.f; ///< normalized battery charge level remaining based on voltage
|
||||
float _remaining = -1.f; ///< normalized battery charge level, selected based on config param
|
||||
float _scale = 1.f;
|
||||
uint8_t _warning;
|
||||
hrt_abstime _last_timestamp;
|
||||
|
||||
orb_advert_t _orbAdvert{nullptr};
|
||||
int _orbInstance;
|
||||
battery_status_s _battery_status;
|
||||
};
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -32,11 +32,11 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file battery_params.c
|
||||
* @file battery_params_1.c
|
||||
* @author Timothy Scott <timothy@auterion.com>
|
||||
*
|
||||
* Parameters defined by the battery lib.
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* Defines parameters for Battery 1. For backwards compatibility, the
|
||||
* parameter names do not have a "1" in them.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
@@ -45,7 +45,7 @@
|
||||
/**
|
||||
* 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 battery 1 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.
|
||||
@@ -61,7 +61,7 @@ PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.5f);
|
||||
/**
|
||||
* 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 battery 1 is considered full
|
||||
* under a mild load. This will never be the nominal voltage of 4.2V
|
||||
*
|
||||
* @group Battery Calibration
|
||||
@@ -72,61 +72,11 @@ PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.5f);
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.05f);
|
||||
|
||||
/**
|
||||
* Low threshold
|
||||
*
|
||||
* Sets the threshold when the battery will be reported as low.
|
||||
* This has to be higher than the critical threshold.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit norm
|
||||
* @min 0.12
|
||||
* @max 0.4
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_LOW_THR, 0.15f);
|
||||
|
||||
/**
|
||||
* Critical threshold
|
||||
*
|
||||
* Sets the threshold when the battery will be reported as critically low.
|
||||
* This has to be lower than the low threshold. This threshold commonly
|
||||
* will trigger RTL.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit norm
|
||||
* @min 0.05
|
||||
* @max 0.1
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_CRIT_THR, 0.07f);
|
||||
|
||||
/**
|
||||
* Emergency threshold
|
||||
*
|
||||
* Sets the threshold when the battery will be reported as dangerously low.
|
||||
* This has to be lower than the critical threshold. This threshold commonly
|
||||
* will trigger landing.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit norm
|
||||
* @min 0.03
|
||||
* @max 0.07
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_EMERGEN_THR, 0.05f);
|
||||
|
||||
/**
|
||||
* Voltage drop per cell on full throttle
|
||||
*
|
||||
* This implicitely defines the internal resistance
|
||||
* to maximum current ratio and assumes linearity.
|
||||
* to maximum current ratio for battery 1 and assumes linearity.
|
||||
* A good value to use is the difference between the
|
||||
* 5C and 20-25C load. Not used if BAT_R_INTERNAL is
|
||||
* set.
|
||||
@@ -142,7 +92,7 @@ PARAM_DEFINE_FLOAT(BAT_EMERGEN_THR, 0.05f);
|
||||
PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
|
||||
|
||||
/**
|
||||
* Explicitly defines the per cell internal resistance
|
||||
* Explicitly defines the per cell internal resistance for battery 1
|
||||
*
|
||||
* If non-negative, then this will be used in place of
|
||||
* BAT_V_LOAD_DROP for all calculations.
|
||||
@@ -155,8 +105,9 @@ PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_R_INTERNAL, -1.0f);
|
||||
|
||||
|
||||
/**
|
||||
* Number of cells.
|
||||
* Number of cells for battery 1.
|
||||
*
|
||||
* Defines the number of cells the attached battery consists of.
|
||||
*
|
||||
@@ -183,9 +134,9 @@ PARAM_DEFINE_FLOAT(BAT_R_INTERNAL, -1.0f);
|
||||
PARAM_DEFINE_INT32(BAT_N_CELLS, 0);
|
||||
|
||||
/**
|
||||
* Battery capacity.
|
||||
* Battery 1 capacity.
|
||||
*
|
||||
* Defines the capacity of the attached battery.
|
||||
* Defines the capacity of battery 1.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit mAh
|
||||
@@ -196,3 +147,38 @@ PARAM_DEFINE_INT32(BAT_N_CELLS, 0);
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
|
||||
|
||||
/**
|
||||
* Battery 1 voltage divider (V divider)
|
||||
*
|
||||
* This is the divider from battery 1 voltage to 3.3V ADC voltage.
|
||||
* If using e.g. Mauch power modules the value from the datasheet
|
||||
* can be applied straight here. A value of -1 means to use
|
||||
* the board default.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @decimal 8
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
|
||||
|
||||
/**
|
||||
* Battery 1 current per volt (A/V)
|
||||
*
|
||||
* The voltage seen by the 3.3V ADC multiplied by this factor
|
||||
* will determine the battery current. A value of -1 means to use
|
||||
* the board default.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @decimal 8
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
|
||||
|
||||
/**
|
||||
* Battery 1 ADC Channel
|
||||
*
|
||||
* This parameter specifies the ADC channel used to monitor voltage of main power battery.
|
||||
* A value of -1 means to use the board default.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
*/
|
||||
PARAM_DEFINE_INT32(BAT_ADC_CHANNEL, -1);
|
||||
@@ -0,0 +1,180 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file battery_params_2.c
|
||||
* @author Timothy Scott <timothy@auterion.com>
|
||||
*
|
||||
* Defines parameters for Battery 2.
|
||||
*/
|
||||
|
||||
/**
|
||||
* Empty cell voltage (5C load)
|
||||
*
|
||||
* Defines the voltage where a single cell of battery 2 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
|
||||
* @unit V
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT2_V_EMPTY, 3.5f);
|
||||
|
||||
/**
|
||||
* Full cell voltage (5C load)
|
||||
*
|
||||
* Defines the voltage where a single cell of battery 2 is considered full
|
||||
* under a mild load. This will never be the nominal voltage of 4.2V
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit V
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT2_V_CHARGED, 4.05f);
|
||||
|
||||
/**
|
||||
* Voltage drop per cell on full throttle
|
||||
*
|
||||
* This implicitely defines the internal resistance
|
||||
* to maximum current ratio for battery 2 and assumes linearity.
|
||||
* A good value to use is the difference between the
|
||||
* 5C and 20-25C load. Not used if BAT2_R_INTERNAL is
|
||||
* set.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit V
|
||||
* @min 0.07
|
||||
* @max 0.5
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT2_V_LOAD_DROP, 0.3f);
|
||||
|
||||
/**
|
||||
* Explicitly defines the per cell internal resistance for battery 2
|
||||
*
|
||||
* If non-negative, then this will be used in place of
|
||||
* BAT2_V_LOAD_DROP for all calculations.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit Ohms
|
||||
* @min -1.0
|
||||
* @max 0.2
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT2_R_INTERNAL, -1.0f);
|
||||
|
||||
|
||||
/**
|
||||
* Number of cells for battery 2.
|
||||
*
|
||||
* Defines the number of cells the attached battery consists of.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit S
|
||||
* @value 0 Unconfigured
|
||||
* @value 2 2S Battery
|
||||
* @value 3 3S Battery
|
||||
* @value 4 4S Battery
|
||||
* @value 5 5S Battery
|
||||
* @value 6 6S Battery
|
||||
* @value 7 7S Battery
|
||||
* @value 8 8S Battery
|
||||
* @value 9 9S Battery
|
||||
* @value 10 10S Battery
|
||||
* @value 11 11S Battery
|
||||
* @value 12 12S Battery
|
||||
* @value 13 13S Battery
|
||||
* @value 14 14S Battery
|
||||
* @value 15 15S Battery
|
||||
* @value 16 16S Battery
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(BAT2_N_CELLS, 0);
|
||||
|
||||
/**
|
||||
* Battery 2 capacity.
|
||||
*
|
||||
* Defines the capacity of battery 2.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit mAh
|
||||
* @decimal 0
|
||||
* @min -1.0
|
||||
* @max 100000
|
||||
* @increment 50
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT2_CAPACITY, -1.0f);
|
||||
|
||||
/**
|
||||
* Battery 2 voltage divider (V divider)
|
||||
*
|
||||
* This is the divider from battery 2 voltage to 3.3V ADC voltage.
|
||||
* If using e.g. Mauch power modules the value from the datasheet
|
||||
* can be applied straight here. A value of -1 means to use
|
||||
* the board default.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @decimal 8
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT2_V_DIV, -1.0);
|
||||
|
||||
/**
|
||||
* Battery 2 current per volt (A/V)
|
||||
*
|
||||
* The voltage seen by the 3.3V ADC multiplied by this factor
|
||||
* will determine the battery current. A value of -1 means to use
|
||||
* the board default.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @decimal 8
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT2_A_PER_V, -1.0);
|
||||
|
||||
/**
|
||||
* Battery 2 ADC Channel
|
||||
*
|
||||
* This parameter specifies the ADC channel used to monitor voltage of main power battery.
|
||||
* A value of -1 means to use the board default.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
*/
|
||||
PARAM_DEFINE_INT32(BAT2_ADC_CHANNEL, -1);
|
||||
@@ -0,0 +1,144 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file battery_params.c
|
||||
*
|
||||
* Parameters defined by the battery lib, shared between all batteries.
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <parameters/param.h>
|
||||
|
||||
|
||||
/**
|
||||
* Low threshold
|
||||
*
|
||||
* Sets the threshold when the battery will be reported as low.
|
||||
* This has to be higher than the critical threshold.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit norm
|
||||
* @min 0.12
|
||||
* @max 0.4
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_LOW_THR, 0.15f);
|
||||
|
||||
/**
|
||||
* Critical threshold
|
||||
*
|
||||
* Sets the threshold when the battery will be reported as critically low.
|
||||
* This has to be lower than the low threshold. This threshold commonly
|
||||
* will trigger RTL.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit norm
|
||||
* @min 0.05
|
||||
* @max 0.1
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_CRIT_THR, 0.07f);
|
||||
|
||||
/**
|
||||
* Emergency threshold
|
||||
*
|
||||
* Sets the threshold when the battery will be reported as dangerously low.
|
||||
* This has to be lower than the critical threshold. This threshold commonly
|
||||
* will trigger landing.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit norm
|
||||
* @min 0.03
|
||||
* @max 0.07
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_EMERGEN_THR, 0.05f);
|
||||
|
||||
/**
|
||||
* Scaling from ADC counts to volt on the ADC input (battery voltage)
|
||||
*
|
||||
* This is not the battery voltage, but the intermediate ADC voltage.
|
||||
* A value of -1 signifies that the board defaults are used, which is
|
||||
* highly recommended.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @decimal 8
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_CNT_V_VOLT, -1.0f);
|
||||
|
||||
/**
|
||||
* Scaling from ADC counts to volt on the ADC input (battery current)
|
||||
*
|
||||
* This is not the battery current, but the intermediate ADC voltage.
|
||||
* A value of -1 signifies that the board defaults are used, which is
|
||||
* highly recommended.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @decimal 8
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_CNT_V_CURR, -1.0);
|
||||
|
||||
/**
|
||||
* Offset in volt as seen by the ADC input of the current sensor.
|
||||
*
|
||||
* This offset will be subtracted before calculating the battery
|
||||
* current based on the voltage.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @decimal 8
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_V_OFFS_CURR, 0.0);
|
||||
|
||||
/**
|
||||
* Battery monitoring source.
|
||||
*
|
||||
* This parameter controls the source of battery data. The value 'Power Module'
|
||||
* means that measurements are expected to come from a power module. If the value is set to
|
||||
* 'External' then the system expects to receive mavlink battery status messages.
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @value 0 Power Module
|
||||
* @value 1 External
|
||||
* @group Battery Calibration
|
||||
*/
|
||||
PARAM_DEFINE_INT32(BAT_SOURCE, 0);
|
||||
Reference in New Issue
Block a user