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battery: update average current also when no capacity is configured

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This commit is contained in:
Matthias Grob 2022-03-31 19:38:08 +02:00
parent 13c3eae6d0
commit dd28c3e019
1 changed files with 17 additions and 17 deletions
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34
src/lib/battery/battery.cpp
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@ -272,25 +272,25 @@ float Battery::computeRemainingTime(float current_a)
{
float time_remaining_s = NAN;
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.copy(&vehicle_status)) {
_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
}
}
if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON) {
_current_average_filter_a.reset(_params.bat_avrg_current);
}
if (_armed && PX4_ISFINITE(current_a)) {
// only update with positive numbers
_current_average_filter_a.update(fmaxf(current_a, 0.f));
}
// Remaining time estimation only possible with capacity
if (_params.capacity > 0.f) {
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.copy(&vehicle_status)) {
_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
}
}
if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON) {
_current_average_filter_a.reset(_params.bat_avrg_current);
}
if (_armed && PX4_ISFINITE(current_a)) {
// only update with positive numbers
_current_average_filter_a.update(fmaxf(current_a, 0.f));
}
const float remaining_capacity_mah = _state_of_charge * _params.capacity;
const float current_ma = fmaxf(_current_average_filter_a.getState() * 1e3f, FLT_EPSILON);
time_remaining_s = remaining_capacity_mah / current_ma * 3600.f;