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Sensors app: Use two parameters to convert battery current and voltage to make configuring custom frames easier
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Lorenz Meier
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3b5feafef4
commit
e1805dfe0c
@ -1964,28 +1964,64 @@ PARAM_DEFINE_INT32(RC_DSM_BIND, -1);
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PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
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/**
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* Scaling factor for battery voltage sensor on FMU v2.
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* Scaling from ADC counts to volt on the ADC input (battery voltage)
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*
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* This is not the battery voltage, but the intermediate ADC voltage.
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* A value of -1 signifies that the board defaults are used, which is
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* highly recommended.
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*
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* @group Battery Calibration
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(BAT_V_SCALING, -1.0f);
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PARAM_DEFINE_FLOAT(BAT_CNT_V_VOLT, -1.0f);
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/**
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* Scaling factor for battery current sensor.
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* Scaling from ADC counts to volt on the ADC input (battery current)
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*
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* This is not the battery current, but the intermediate ADC voltage.
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* A value of -1 signifies that the board defaults are used, which is
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* highly recommended.
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*
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* @group Battery Calibration
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(BAT_C_SCALING, -1.0);
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PARAM_DEFINE_FLOAT(BAT_CNT_V_CURR, -1.0);
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/**
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* Offset for battery current sensor.
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* Offset in volt as seen by the ADC input of the current sensor.
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*
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* This offset will be subtracted before calculating the battery
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* current based on the voltage.
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*
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* @group Battery Calibration
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(BAT_C_OFFSET, -1.0);
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PARAM_DEFINE_FLOAT(BAT_V_OFFS_CURR, 0.0);
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/**
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* Battery voltage divider (V divider)
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*
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* This is the divider from battery voltage to 3.3V ADC voltage.
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* If using e.g. Mauch power modules the value from the datasheet
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* can be applied straight here. A value of -1 means to use
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* the board default.
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*
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* @group Battery Calibration
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
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/**
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* Battery current per volt (A/V)
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*
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* The voltage seen by the 3.3V ADC multiplied by this factor
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* will determine the battery current. A value of -1 means to use
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* the board default.
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*
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* @group Battery Calibration
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
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/**
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@ -317,6 +317,8 @@ private:
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float battery_voltage_scaling;
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float battery_current_scaling;
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float battery_current_offset;
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float battery_v_div;
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float battery_a_per_v;
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float baro_qnh;
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@ -377,6 +379,8 @@ private:
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param_t battery_voltage_scaling;
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param_t battery_current_scaling;
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param_t battery_current_offset;
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param_t battery_v_div;
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param_t battery_a_per_v;
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param_t board_rotation;
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@ -644,9 +648,11 @@ Sensors::Sensors() :
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_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
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_parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
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_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
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_parameter_handles.battery_current_scaling = param_find("BAT_C_SCALING");
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_parameter_handles.battery_current_offset = param_find("BAT_C_OFFSET");
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_parameter_handles.battery_voltage_scaling = param_find("BAT_CNT_V_VOLT");
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_parameter_handles.battery_current_scaling = param_find("BAT_CNT_V_CURR");
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_parameter_handles.battery_current_offset = param_find("BAT_V_OFFS_CURR");
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_parameter_handles.battery_v_div = param_find("BAT_V_DIV");
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_parameter_handles.battery_a_per_v = param_find("BAT_A_PER_V");
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/* rotations */
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_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
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@ -887,18 +893,7 @@ Sensors::parameters_update()
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} else if (_parameters.battery_voltage_scaling < 0.0f) {
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/* apply scaling according to defaults if set to default */
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#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
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_parameters.battery_voltage_scaling = 0.011f;
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#elif defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || defined ( CONFIG_ARCH_BOARD_MINDPX_V2 )
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_parameters.battery_voltage_scaling = 0.0082f;
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#elif defined (CONFIG_ARCH_BOARD_AEROCORE)
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_parameters.battery_voltage_scaling = 0.0063f;
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#elif defined (CONFIG_ARCH_BOARD_PX4FMU_V1)
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_parameters.battery_voltage_scaling = 0.00459340659f;
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#else
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/* ensure a missing default trips a low voltage lockdown */
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_parameters.battery_voltage_scaling = 0.00001f;
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#endif
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_parameters.battery_voltage_scaling = (3.3f / 4096);
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}
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/* scaling of ADC ticks to battery current */
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@ -907,27 +902,50 @@ Sensors::parameters_update()
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} else if (_parameters.battery_current_scaling < 0.0f) {
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/* apply scaling according to defaults if set to default */
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#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
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/* current scaling for ACSP4 */
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_parameters.battery_current_scaling = 0.0293f;
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#elif defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || defined ( CONFIG_ARCH_BOARD_MINDPX_V2 )
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/* current scaling for 3DR power brick */
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_parameters.battery_current_scaling = 0.0124f;
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#elif defined (CONFIG_ARCH_BOARD_AEROCORE)
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_parameters.battery_current_scaling = 0.0124f;
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#elif defined (CONFIG_ARCH_BOARD_PX4FMU_V1)
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_parameters.battery_current_scaling = 0.0124f;
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#else
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/* ensure a missing default leads to an unrealistic current value */
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_parameters.battery_current_scaling = 0.00001f;
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#endif
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_parameters.battery_current_scaling = (3.3f / 4096);
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}
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if (param_get(_parameter_handles.battery_current_offset, &(_parameters.battery_current_offset)) != OK) {
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warnx("%s", paramerr);
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} else if (_parameters.battery_current_offset < 0.0f) {
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_parameters.battery_current_offset = 0.0f;
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}
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if (param_get(_parameter_handles.battery_v_div, &(_parameters.battery_v_div)) != OK) {
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warnx("%s", paramerr);
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_parameters.battery_v_div = 100.0f;
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} else if (_parameters.battery_v_div < 0.0f) {
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/* apply scaling according to defaults if set to default */
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#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
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_parameters.battery_v_div = 13.653333333f;
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#elif defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || defined ( CONFIG_ARCH_BOARD_MINDPX_V2 )
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_parameters.battery_v_div = 10.177939394f;
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#elif defined (CONFIG_ARCH_BOARD_AEROCORE)
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_parameters.battery_v_div = 7.8196363636f;
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#elif defined (CONFIG_ARCH_BOARD_PX4FMU_V1)
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_parameters.battery_v_div = 5.7013919372f;
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#else
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/* ensure a missing default trips a low voltage lockdown */
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_parameters.battery_v_div = 100.0f;
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#endif
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}
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if (param_get(_parameter_handles.battery_a_per_v, &(_parameters.battery_a_per_v)) != OK) {
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warnx("%s", paramerr);
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_parameters.battery_a_per_v = 100.0f;
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} else if (_parameters.battery_a_per_v < 0.0f) {
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/* apply scaling according to defaults if set to default */
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#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
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/* current scaling for ACSP4 */
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_parameters.battery_a_per_v = 36.367515152f;
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#elif defined (CONFIG_ARCH_BOARD_PX4FMU_V2) || defined (CONFIG_ARCH_BOARD_MINDPX_V2) || defined (CONFIG_ARCH_BOARD_AEROCORE) || defined (CONFIG_ARCH_BOARD_PX4FMU_V1)
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/* current scaling for 3DR power brick */
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_parameters.battery_a_per_v = 15.391030303f;
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#else
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/* ensure a missing default leads to an unrealistic current value */
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_parameters.battery_a_per_v = 100.0f;
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#endif
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}
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param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
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@ -1655,14 +1673,15 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
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/* look for specific channels and process the raw voltage to measurement data */
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if (ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
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/* Voltage in volts */
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bat_voltage_v = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
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bat_voltage_v = (buf_adc[i].am_data * _parameters.battery_voltage_scaling) * _parameters.battery_v_div;
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if (bat_voltage_v > 0.5f) {
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updated_battery = true;
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}
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} else if (ADC_BATTERY_CURRENT_CHANNEL == buf_adc[i].am_channel) {
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bat_current_a = (buf_adc[i].am_data * _parameters.battery_current_scaling);
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bat_current_a = ((buf_adc[i].am_data * _parameters.battery_current_scaling)
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- _parameters.battery_current_offset) * _parameters.battery_a_per_v;
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#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
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