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delete deprecated BAT_* parameters

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This commit is contained in:
Daniel Agar
2021-07-08 22:19:12 -04:00
parent 19bc1f9d02
commit c5b1fe86ca
41 changed files with 76 additions and 407 deletions
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src/drivers/batt_smbus/batt_smbus.cpp
+6 -5
View File
@@ -54,8 +54,8 @@ BATT_SMBUS::BATT_SMBUS(const I2CSPIDriverConfig &config, SMBus *interface) :
int32_t battsource = 1;
int32_t batt_device_type = static_cast<int32_t>(SMBUS_DEVICE_TYPE::UNDEFINED);
param_set(param_find("BAT_SOURCE"), &battsource);
param_get(param_find("BAT_SMBUS_MODEL"), &batt_device_type);
param_set(param_find("BAT1_SOURCE"), &battsource);
param_get(param_find("BAT1_SMBUS_MODEL"), &batt_device_type);
//TODO: probe the device and autodetect its type
@@ -84,7 +84,7 @@ BATT_SMBUS::~BATT_SMBUS()
}
int32_t battsource = 0;
param_set(param_find("BAT_SOURCE"), &battsource);
param_set(param_find("BAT1_SOURCE"), &battsource);
}
void BATT_SMBUS::RunImpl()
@@ -359,13 +359,14 @@ int BATT_SMBUS::get_startup_info()
int ret = PX4_OK;
// Read battery threshold params on startup.
// TODO: support instances
param_get(param_find("BAT_CRIT_THR"), &_crit_thr);
param_get(param_find("BAT_LOW_THR"), &_low_thr);
param_get(param_find("BAT_EMERGEN_THR"), &_emergency_thr);
param_get(param_find("BAT_C_MULT"), &_c_mult);
param_get(param_find("BAT1_C_MULT"), &_c_mult);
int32_t cell_count_param = 0;
param_get(param_find("BAT_N_CELLS"), &cell_count_param);
param_get(param_find("BAT1_N_CELLS"), &cell_count_param);
_cell_count = math::min((uint8_t)cell_count_param, MAX_NUM_OF_CELLS);
ret |= _interface->block_read(BATT_SMBUS_MANUFACTURER_NAME, _manufacturer_name, BATT_SMBUS_MANUFACTURER_NAME_SIZE,
src/drivers/batt_smbus/parameters.c
+2 -2
View File
@@ -48,7 +48,7 @@ PARAM_DEFINE_INT32(SENS_EN_BATT, 0);
* @decimal 1
* @group Sensors
*/
PARAM_DEFINE_FLOAT(BAT_C_MULT, 1.0f);
PARAM_DEFINE_FLOAT(BAT1_C_MULT, 1.0f);
/**
* Battery device model
@@ -61,4 +61,4 @@ PARAM_DEFINE_FLOAT(BAT_C_MULT, 1.0f);
* @value 1 BQ40Z50 based
* @value 2 BQ40Z80 based
*/
PARAM_DEFINE_INT32(BAT_SMBUS_MODEL, 0);
PARAM_DEFINE_INT32(BAT1_SMBUS_MODEL, 0);
src/lib/battery/battery.cpp
+7 -34
View File
@@ -92,14 +92,6 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us)
_param_handles.crit_thr = param_find("BAT_CRIT_THR");
_param_handles.emergen_thr = param_find("BAT_EMERGEN_THR");
_param_handles.v_empty_old = param_find("BAT_V_EMPTY");
_param_handles.v_charged_old = param_find("BAT_V_CHARGED");
_param_handles.n_cells_old = param_find("BAT_N_CELLS");
_param_handles.capacity_old = param_find("BAT_CAPACITY");
_param_handles.v_load_drop_old = param_find("BAT_V_LOAD_DROP");
_param_handles.r_internal_old = param_find("BAT_R_INTERNAL");
_param_handles.source_old = param_find("BAT_SOURCE");
updateParams();
}
@@ -255,32 +247,13 @@ void Battery::computeScale()
void Battery::updateParams()
{
if (_index == 1) {
migrateParam<float>(_param_handles.v_empty_old, _param_handles.v_empty, &_params.v_empty_old, &_params.v_empty,
_first_parameter_update);
migrateParam<float>(_param_handles.v_charged_old, _param_handles.v_charged, &_params.v_charged_old, &_params.v_charged,
_first_parameter_update);
migrateParam<int32_t>(_param_handles.n_cells_old, _param_handles.n_cells, &_params.n_cells_old, &_params.n_cells,
_first_parameter_update);
migrateParam<float>(_param_handles.capacity_old, _param_handles.capacity, &_params.capacity_old, &_params.capacity,
_first_parameter_update);
migrateParam<float>(_param_handles.v_load_drop_old, _param_handles.v_load_drop, &_params.v_load_drop_old,
&_params.v_load_drop, _first_parameter_update);
migrateParam<float>(_param_handles.r_internal_old, _param_handles.r_internal, &_params.r_internal_old,
&_params.r_internal, _first_parameter_update);
migrateParam<int32_t>(_param_handles.source_old, _param_handles.source, &_params.source_old, &_params.source,
_first_parameter_update);
} else {
param_get(_param_handles.v_empty, &_params.v_empty);
param_get(_param_handles.v_charged, &_params.v_charged);
param_get(_param_handles.n_cells, &_params.n_cells);
param_get(_param_handles.capacity, &_params.capacity);
param_get(_param_handles.v_load_drop, &_params.v_load_drop);
param_get(_param_handles.r_internal, &_params.r_internal);
param_get(_param_handles.source, &_params.source);
}
param_get(_param_handles.v_empty, &_params.v_empty);
param_get(_param_handles.v_charged, &_params.v_charged);
param_get(_param_handles.n_cells, &_params.n_cells);
param_get(_param_handles.capacity, &_params.capacity);
param_get(_param_handles.v_load_drop, &_params.v_load_drop);
param_get(_param_handles.r_internal, &_params.r_internal);
param_get(_param_handles.source, &_params.source);
param_get(_param_handles.low_thr, &_params.low_thr);
param_get(_param_handles.crit_thr, &_params.crit_thr);
param_get(_param_handles.emergen_thr, &_params.emergen_thr);
src/lib/battery/battery.h
-54
View File
@@ -108,16 +108,6 @@ protected:
param_t crit_thr;
param_t emergen_thr;
param_t source;
// TODO: These parameters are depracated. They can be removed entirely once the
// new version of Firmware has been around for long enough.
param_t v_empty_old;
param_t v_charged_old;
param_t n_cells_old;
param_t capacity_old;
param_t v_load_drop_old;
param_t r_internal_old;
param_t source_old;
} _param_handles{};
struct {
@@ -131,16 +121,6 @@ protected:
float crit_thr;
float emergen_thr;
int32_t source;
// TODO: These parameters are depracated. They can be removed entirely once the
// new version of Firmware has been around for long enough.
float v_empty_old;
float v_charged_old;
int32_t n_cells_old;
float capacity_old;
float v_load_drop_old;
float r_internal_old;
int32_t source_old;
} _params{};
const int _index;
@@ -148,40 +128,6 @@ protected:
bool _first_parameter_update{true};
void updateParams() override;
/**
* This function helps migrating and syncing from/to deprecated parameters. BAT_* BAT1_*
* @tparam T Type of the parameter (int or float)
* @param old_param Handle to the old deprecated parameter (for example, param_find("BAT_N_CELLS"))
* @param new_param Handle to the new replacement parameter (for example, param_find("BAT1_N_CELLS"))
* @param old_val Pointer to the value of the old deprecated parameter
* @param new_val Pointer to the value of the new replacement parameter
* @param firstcall If true, this function prefers migrating old to new
*/
template<typename T>
void migrateParam(param_t old_param, param_t new_param, T *old_val, T *new_val, bool firstcall)
{
T previous_old_val = *old_val;
T previous_new_val = *new_val;
// Update both the old and new parameter values
param_get(old_param, old_val);
param_get(new_param, new_val);
// Check if the parameter values are different
if (!matrix::isEqualF((float)*old_val, (float)*new_val)) {
// If so, copy the new value over to the unchanged parameter
// Note: If they differ from the beginning we migrate old to new
if (firstcall || !matrix::isEqualF((float)*old_val, (float)previous_old_val)) {
param_set_no_notification(new_param, old_val);
param_get(new_param, new_val);
} else if (!matrix::isEqualF((float)*new_val, (float)previous_new_val)) {
param_set_no_notification(old_param, new_val);
param_get(old_param, old_val);
}
}
}
private:
void sumDischarged(const hrt_abstime &timestamp, float current_a);
void estimateStateOfCharge(const float voltage_v, const float current_a, const float throttle);
src/lib/battery/battery_params_deprecated.c
-163
View File
@@ -1,163 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 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_params_deprecated.c
* @author Timothy Scott <timothy@auterion.com>
*
* Defines the deprcated single battery configuration which are temporarily kept for backwards compatibility with QGC.
* The new parameter set has a number after "BAT" e.g. BAT1_V_EMPTY.
*/
/**
* This parameter is deprecated. Please use BAT1_V_EMPTY instead.
*
* 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.
*
* @group Battery Calibration
* @unit V
* @decimal 2
* @increment 0.01
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.5f);
/**
* This parameter is deprecated. Please use BAT1_V_CHARGED instead.
*
* 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
* @unit V
* @decimal 2
* @increment 0.01
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.05f);
/**
* This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead.
*
* This implicitely defines the internal resistance
* 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.
*
* @group Battery Calibration
* @unit V
* @min 0.07
* @max 0.5
* @decimal 2
* @increment 0.01
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
/**
* This parameter is deprecated. Please use BAT1_R_INTERNAL instead.
*
* If non-negative, then this will be used in place of
* BAT_V_LOAD_DROP for all calculations.
*
* @group Battery Calibration
* @unit Ohm
* @min -1.0
* @max 0.2
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT_R_INTERNAL, -1.0f);
/**
* This parameter is deprecated. Please use BAT1_N_CELLS instead.
*
* 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(BAT_N_CELLS, 0);
/**
* This parameter is deprecated. Please use BAT1_CAPACITY instead.
*
* Defines the capacity of battery 1.
*
* @group Battery Calibration
* @unit mAh
* @decimal 0
* @min -1.0
* @max 100000
* @increment 50
* @reboot_required true
*/
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
/**
* This parameter is deprecated. Please use BAT1_SOURCE instead.
*
* 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);
src/modules/battery_status/analog_battery.cpp
+3 -30
View File
@@ -67,10 +67,6 @@ AnalogBattery::AnalogBattery(int index, ModuleParams *parent, const int sample_i
snprintf(param_name, sizeof(param_name), "BAT%d_I_CHANNEL", index);
_analog_param_handles.i_channel = param_find(param_name);
_analog_param_handles.v_div_old = param_find("BAT_V_DIV");
_analog_param_handles.a_per_v_old = param_find("BAT_A_PER_V");
_analog_param_handles.adc_channel_old = param_find("BAT_ADC_CHANNEL");
}
void
@@ -119,24 +115,12 @@ int AnalogBattery::get_current_channel()
}
}
void
AnalogBattery::updateParams()
{
if (_index == 1) {
migrateParam<float>(_analog_param_handles.v_div_old, _analog_param_handles.v_div, &_analog_params.v_div_old,
&_analog_params.v_div, _first_parameter_update);
migrateParam<float>(_analog_param_handles.a_per_v_old, _analog_param_handles.a_per_v, &_analog_params.a_per_v_old,
&_analog_params.a_per_v, _first_parameter_update);
migrateParam<int32_t>(_analog_param_handles.adc_channel_old, _analog_param_handles.v_channel,
&_analog_params.adc_channel_old, &_analog_params.v_channel, _first_parameter_update);
} else {
param_get(_analog_param_handles.v_div, &_analog_params.v_div);
param_get(_analog_param_handles.a_per_v, &_analog_params.a_per_v);
param_get(_analog_param_handles.v_channel, &_analog_params.v_channel);
}
param_get(_analog_param_handles.v_div, &_analog_params.v_div);
param_get(_analog_param_handles.a_per_v, &_analog_params.a_per_v);
param_get(_analog_param_handles.v_channel, &_analog_params.v_channel);
param_get(_analog_param_handles.i_channel, &_analog_params.i_channel);
param_get(_analog_param_handles.v_offs_cur, &_analog_params.v_offs_cur);
@@ -144,23 +128,12 @@ AnalogBattery::updateParams()
/* apply scaling according to defaults if set to default */
_analog_params.v_div = BOARD_BATTERY1_V_DIV;
param_set_no_notification(_analog_param_handles.v_div, &_analog_params.v_div);
if (_index == 1) {
_analog_params.v_div_old = BOARD_BATTERY1_V_DIV;
param_set_no_notification(_analog_param_handles.v_div_old, &_analog_params.v_div_old);
}
}
if (_analog_params.a_per_v < 0.0f) {
/* apply scaling according to defaults if set to default */
_analog_params.a_per_v = BOARD_BATTERY1_A_PER_V;
param_set_no_notification(_analog_param_handles.a_per_v, &_analog_params.a_per_v);
if (_index == 1) {
_analog_params.a_per_v_old = BOARD_BATTERY1_A_PER_V;
param_set_no_notification(_analog_param_handles.a_per_v_old, &_analog_params.a_per_v_old);
}
}
Battery::updateParams();
src/modules/battery_status/analog_battery.h
-8
View File
@@ -78,10 +78,6 @@ protected:
param_t a_per_v;
param_t v_channel;
param_t i_channel;
param_t v_div_old;
param_t a_per_v_old;
param_t adc_channel_old;
} _analog_param_handles;
struct {
@@ -90,10 +86,6 @@ protected:
float a_per_v;
int32_t v_channel;
int32_t i_channel;
float v_div_old;
float a_per_v_old;
int32_t adc_channel_old;
} _analog_params;
virtual void updateParams() override;
src/modules/sensors/analog_battery_params_deprecated.c
-48
View File
@@ -1,48 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 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.
*
****************************************************************************/
/**
* This parameter is deprecated. Please use BAT1_V_DIV.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
/**
* This parameter is deprecated. Please use BAT1_A_PER_V.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);