mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-07 01:41:36 +08:00
delete deprecated BAT_* parameters
This commit is contained in:
Daniel Agar
@@ -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);
|
||||
|
||||
@@ -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 ×tamp, float current_a);
|
||||
void estimateStateOfCharge(const float voltage_v, const float current_a, const float throttle);
|
||||
|
||||
@@ -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);
|
||||
Reference in New Issue
Block a user