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Created new AnalogBattery class
This commit is contained in:
Timothy Scott
committed by
Julian Oes
Julian Oes
parent
bff1df7080
commit
d7bb5d46bb
@@ -44,6 +44,7 @@ px4_add_module(
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parameters.cpp
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temperature_compensation.cpp
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power.cpp
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analog_battery.cpp
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DEPENDS
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airspeed
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@@ -0,0 +1,141 @@
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#include "analog_battery.h"
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// Defaults to use if the parameters are not set
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#if BOARD_NUMBER_BRICKS > 0
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#if defined(BOARD_BATT_V_LIST) && defined(BOARD_BATT_I_LIST)
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static constexpr int DEFAULT_V_CHANNEL[BOARD_NUMBER_BRICKS] = BOARD_BATT_V_LIST;
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static constexpr int DEFAULT_I_CHANNEL[BOARD_NUMBER_BRICKS] = BOARD_BATT_I_LIST;
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#else
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static constexpr int DEFAULT_V_CHANNEL[BOARD_NUMBER_BRICKS] = {0};
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static constexpr int DEFAULT_I_CHANNEL[BOARD_NUMBER_BRICKS] = {0};
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#endif
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#else
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static constexpr int DEFAULT_V_CHANNEL[1] = {0};
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static constexpr int DEFAULT_I_CHANNEL[1] = {0};
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#endif
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static constexpr float DEFAULT_VOLTS_PER_COUNT = 3.3f / 4096.0f;
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AnalogBattery::AnalogBattery() :
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ModuleParams(nullptr)
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{}
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void
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AnalogBattery::updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_raw, int32_t current_raw,
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bool selected_source, int priority, float throttle_normalized,
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bool armed)
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{
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// TODO: Check that there was actually a parameter update
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_get_battery_base().updateParams();
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updateParams();
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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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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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_get_battery_base().updateBatteryStatus(timestamp, voltage_v, current_a, connected,
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selected_source, priority, throttle_normalized, armed, false);
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// Before refactoring and adding the BatteryBase and AnalogBattery classes, the only place that checked the
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// value of the BAT_SOURCE parameter was in the ADC polling in sensors.cpp. So I keep that logic here for now.
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if (_get_source() == 0) {
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_get_battery_base().publish();
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}
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}
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/**
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* Whether the ADC channel for the voltage of this battery is valid.
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* Corresponds to BOARD_BRICK_VALID_LIST
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*/
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bool AnalogBattery::is_valid()
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{
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#ifdef BOARD_BRICK_VALID_LIST
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bool valid[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
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return valid[_get_brick_index()];
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#else
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// TODO: Maybe return false instead?
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return true;
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#endif
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}
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int AnalogBattery::getVoltageChannel()
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{
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if (_get_adc_channel() >= 0) {
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return _get_adc_channel();
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} else {
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return DEFAULT_V_CHANNEL[_get_brick_index()];
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}
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}
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int AnalogBattery::getCurrentChannel()
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{
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// TODO: Possibly implement parameter for current sense channel
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return DEFAULT_I_CHANNEL[_get_brick_index()];
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}
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float
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AnalogBattery::_get_cnt_v_volt()
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{
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float val = _get_cnt_v_volt_raw();
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if (val < 0.0f) {
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// TODO: This magic constant was hardcoded into sensors.cpp before I did the refactor. I don't know
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// what the best way is to make it not a magic number.
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return DEFAULT_VOLTS_PER_COUNT;
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} else {
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return val;
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}
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}
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float
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AnalogBattery::_get_cnt_v_curr()
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{
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float val = _get_cnt_v_curr_raw();
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if (val < 0.0f) {
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return DEFAULT_VOLTS_PER_COUNT;
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} else {
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return val;
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}
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}
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float
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AnalogBattery::_get_v_div()
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{
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float val = _get_v_div_raw();
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if (val <= 0.0f) {
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return BOARD_BATTERY1_V_DIV;
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} else {
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return val;
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}
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}
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float
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AnalogBattery::_get_a_per_v()
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{
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float val = _get_a_per_v_raw();
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if (val <= 0.0f) {
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return BOARD_BATTERY1_A_PER_V;
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} else {
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return val;
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}
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}
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#if BOARD_NUMBER_BRICKS > 0
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AnalogBattery1::AnalogBattery1()
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{
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Battery1::migrateParam(_param_old_a_per_v, _param_a_per_v, "A_PER_V", -1.0f);
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Battery1::migrateParam(_param_old_adc_channel, _param_adc_channel, "ADC_CHANNEL", -1);
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Battery1::migrateParam(_param_old_v_div, _param_v_div, "V_DIV", -1.0f);
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}
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#endif
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@@ -0,0 +1,163 @@
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/****************************************************************************
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*
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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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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <battery/battery_base.h>
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#include <battery/battery.h>
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class AnalogBattery : public ModuleParams
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{
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public:
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AnalogBattery();
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/**
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* Update current battery status message.
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*
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* @param voltage_raw Battery voltage read from ADC, in raw ADC counts
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* @param current_raw Voltage of current sense resistor, in raw ADC counts
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* @param timestamp Time at which the ADC was read (use hrt_absolute_time())
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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 of the vehicle, between 0 and 1
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* @param armed Arming state of the vehicle
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*/
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void updateBatteryStatusRawADC(hrt_abstime timestamp, int32_t voltage_raw, int32_t current_raw,
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bool selected_source, int priority, float throttle_normalized,
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bool armed);
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/**
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* Whether the ADC channel for the voltage of this battery is valid.
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* Corresponds to BOARD_BRICK_VALID_LIST
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*/
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bool is_valid();
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/**
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* Which ADC channel is used for voltage reading of this battery
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*/
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int getVoltageChannel();
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/**
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* Which ADC channel is used for current reading of this battery
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*/
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int getCurrentChannel();
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protected:
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virtual float _get_cnt_v_volt_raw() = 0;
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virtual float _get_cnt_v_curr_raw() = 0;
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virtual float _get_v_offs_cur() = 0;
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virtual float _get_v_div_raw() = 0;
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virtual float _get_a_per_v_raw() = 0;
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virtual int _get_adc_channel() = 0;
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virtual int _get_source() = 0;
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virtual int _get_brick_index() = 0;
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virtual BatteryBase &_get_battery_base() = 0;
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float _get_cnt_v_volt();
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float _get_cnt_v_curr();
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float _get_v_div();
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float _get_a_per_v();
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};
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#if BOARD_NUMBER_BRICKS > 0
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class AnalogBattery1 : public AnalogBattery
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{
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public:
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AnalogBattery1();
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protected:
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Battery1 _base{};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::BAT_V_DIV>) _param_old_v_div,
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(ParamFloat<px4::params::BAT_A_PER_V>) _param_old_a_per_v,
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(ParamInt<px4::params::BAT_ADC_CHANNEL>) _param_old_adc_channel,
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(ParamFloat<px4::params::BAT1_V_DIV>) _param_v_div,
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(ParamFloat<px4::params::BAT1_A_PER_V>) _param_a_per_v,
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(ParamInt<px4::params::BAT1_ADC_CHANNEL>) _param_adc_channel,
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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_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_adc_channel() override {return _param_adc_channel.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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int _get_source() override {return _param_source.get();}
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int _get_brick_index() override {return 0; }
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BatteryBase &_get_battery_base() override {return _base;}
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};
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#endif // #if BOARD_NUMBER_BRICKS > 0
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#if BOARD_NUMBER_BRICKS > 1
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class AnalogBattery2 : public AnalogBattery
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{
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protected:
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Battery2 _base{};
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DEFINE_PARAMETERS(
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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_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_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_adc_channel() override {return _param_adc_channel.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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int _get_source() override {return _param_source.get();}
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int _get_brick_index() override {return 1; }
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BatteryBase &_get_battery_base() override {return _base;}
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};
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#endif // #if BOARD_NUMBER_BRICKS > 1
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@@ -59,11 +59,11 @@ void Power::update(px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS], int nchannels, f
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for (int i = 0; i < nchannels; i++) {
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for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) {
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/* look for specific channels and process the raw voltage to measurement data */
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if (_analogBatteries[b]->vChannel == buf_adc[i].am_channel) {
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if (_analogBatteries[b]->getVoltageChannel() == buf_adc[i].am_channel) {
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/* Voltage in ADC counts */
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bat_voltage_cnt[b] = buf_adc[i].am_data;
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} else if (_analogBatteries[b]->iChannel == buf_adc[i].am_channel) {
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} else if (_analogBatteries[b]->getCurrentChannel() == buf_adc[i].am_channel) {
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/* Voltage at current sense resistor in ADC counts */
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bat_current_cnt[b] = buf_adc[i].am_data;
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}
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@@ -82,7 +82,7 @@ void Power::update(px4_adc_msg_t buf_adc[PX4_MAX_ADC_CHANNELS], int nchannels, f
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selected_source = b;
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}
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_analogBatteries[b]->updateBatteryStatusRawADC(bat_voltage_cnt[b], bat_current_cnt[b], hrt_absolute_time(),
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_analogBatteries[b]->updateBatteryStatusRawADC(hrt_absolute_time(), bat_voltage_cnt[b], bat_current_cnt[b],
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selected_source == b, b, throttle, armed);
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}
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@@ -40,13 +40,7 @@
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#pragma once
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#include <board_config.h>
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#include <battery/battery.h>
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#ifdef BOARD_NUMBER_DIGITAL_BRICKS
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#define TOTAL_BRICKS (BOARD_NUMBER_BRICKS + BOARD_NUMBER_DIGITAL_BRICKS)
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#else
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#define TOTAL_BRICKS BOARD_NUMBER_BRICKS
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#endif
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#include "analog_battery.h"
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/**
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* Measures voltage, current, etc. of all batteries connected to the vehicle, both
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@@ -80,8 +74,8 @@ private:
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*
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* For an example of what this looks like after preprocessing, assume that BOARD_NUMBER_BRICKS = 2:
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* ```
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* Battery1 _battery0;
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* Battery2 _battery1;
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* AnalogBattery1 _battery0;
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* AnalogBattery2 _battery1;
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*
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* BatteryBase *_analogBatteries[2] {
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* &_battery0,
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@@ -92,17 +86,14 @@ private:
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* The #if BOARD_NUMBER_BRICKS > 0 wraps the entire declaration because otherwise, an empty array is declared
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* which then is unused. In some configurations, an unused variable throws a compile error.
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*/
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// TODO: Add digital batteries
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#if BOARD_NUMBER_BRICKS > 0
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Battery1 _battery0;
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AnalogBattery1 _battery0;
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#if BOARD_NUMBER_BRICKS > 1
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Battery2 _battery1;
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AnalogBattery2 _battery1;
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#endif
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BatteryBase *_analogBatteries[BOARD_NUMBER_BRICKS] {
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AnalogBattery *_analogBatteries[BOARD_NUMBER_BRICKS] {
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&_battery0,
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#if BOARD_NUMBER_BRICKS > 1
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&_battery1,
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@@ -72,7 +72,7 @@
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#include "parameters.h"
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#include "voted_sensors_update.h"
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#include "power.h"
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#include "vehicle_acceleration/VehicleAcceleration.hpp"
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#include "vehicle_angular_velocity/VehicleAngularVelocity.hpp"
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@@ -42,7 +42,7 @@
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#pragma once
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#include <battery/battery.h>
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#include <battery/battery_base.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_rc_input.h>
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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@@ -183,8 +183,6 @@ private:
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_gps.writeData(&gps_data);
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_battery_status.timestamp = hrt_absolute_time();
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_px4_accel.set_sample_rate(250);
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_px4_gyro.set_sample_rate(250);
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}
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@@ -237,10 +235,24 @@ private:
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hrt_abstime _last_sim_timestamp{0};
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hrt_abstime _last_sitl_timestamp{0};
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hrt_abstime _last_battery_timestamp{0};
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// Lib used to do the battery calculations.
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Battery1 _battery {};
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battery_status_s _battery_status{};
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// Because the simulator doesn't actually care about the real values of these, just stick
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// in some good defaults.
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// This is an anonymous class, because BatteryBase is abstract and can't directly be instantiated.
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class : public BatteryBase
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{
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float _get_bat_v_empty() override { return 3.5; }
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float _get_bat_v_charged() override { return 4.05; }
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int _get_bat_n_cells() override { return 4; }
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float _get_bat_capacity() override { return 10.0; }
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float _get_bat_v_load_drop() override { return 0; }
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float _get_bat_r_internal() override { return 0; }
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float _get_bat_low_thr() override { return 0.15; }
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float _get_bat_crit_thr() override { return 0.07; }
|
||||
float _get_bat_emergen_thr() override { return 0.05; }
|
||||
int _get_source() override { return 0; }
|
||||
} _battery {};
|
||||
|
||||
#ifndef __PX4_QURT
|
||||
|
||||
|
||||
@@ -346,7 +346,7 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
|
||||
static uint64_t last_integration_us = 0;
|
||||
|
||||
// battery simulation (limit update to 100Hz)
|
||||
if (hrt_elapsed_time(&_battery_status.timestamp) >= 10_ms) {
|
||||
if (hrt_elapsed_time(&_last_battery_timestamp) >= 10_ms) {
|
||||
|
||||
const float discharge_interval_us = _param_sim_bat_drain.get() * 1000 * 1000;
|
||||
|
||||
@@ -370,7 +370,9 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
|
||||
vbatt *= _battery.cell_count();
|
||||
|
||||
const float throttle = 0.0f; // simulate no throttle compensation to make the estimate predictable
|
||||
_battery.updateBatteryStatus(vbatt, ibatt, now_us, true, 0, throttle, armed);
|
||||
_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, true, 0, throttle, armed, true);
|
||||
|
||||
_last_battery_timestamp = now_us;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user