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Battery: minor refactor

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This commit is contained in:
Matthias Grob
2022-11-24 14:52:37 +01:00
parent 85e9c17a5e
commit e5e58ba290
3 changed files with 11 additions and 22 deletions
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src/drivers/uavcan/sensors/battery.cpp
+1 -11
View File
@@ -97,12 +97,10 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
}
if (_batt_update_mod[instance] == BatteryDataType::Filter) {
filterData(msg, instance);
return;
}
_battery_status[instance].timestamp = hrt_absolute_time();
_battery_status[instance].voltage_v = msg.voltage;
_battery_status[instance].voltage_filtered_v = msg.voltage;
_battery_status[instance].current_a = msg.current;
@@ -115,18 +113,13 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
}
_battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
// _battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius
// _battery_status[instance].cell_count = msg.;
_battery_status[instance].connected = true;
_battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
// _battery_status[instance].priority = msg.;
_battery_status[instance].capacity = msg.full_charge_capacity_wh;
_battery_status[instance].full_charge_capacity_wh = msg.full_charge_capacity_wh;
_battery_status[instance].remaining_capacity_wh = msg.remaining_capacity_wh;
// _battery_status[instance].cycle_count = msg.;
_battery_status[instance].time_remaining_s = NAN;
// _battery_status[instance].average_time_to_empty = msg.;
_battery_status[instance].serial_number = msg.model_instance_id;
_battery_status[instance].id = msg.getSrcNodeID().get();
@@ -138,12 +131,9 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
_battery_status[instance].cell_count = 1;
}
// _battery_status[instance].max_cell_voltage_delta = msg.;
// _battery_status[instance].is_powering_off = msg.;
determineWarning(_battery_status[instance].remaining);
_battery_status[instance].warning = _warning;
_battery_status[instance].timestamp = hrt_absolute_time();
if (_batt_update_mod[instance] == BatteryDataType::Raw) {
publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
src/drivers/uavcan/sensors/battery.hpp
+5 -6
View File
@@ -107,10 +107,9 @@ private:
static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_4, "Battery array too big");
Battery battery1 = {BATTERY_INDEX_1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
Battery battery2 = {BATTERY_INDEX_2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
Battery battery3 = {BATTERY_INDEX_3, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
Battery battery4 = {BATTERY_INDEX_4, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
Battery *_battery[battery_status_s::MAX_INSTANCES] = { &battery1, &battery2, &battery3, &battery4 };
Battery battery1{BATTERY_INDEX_1, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
Battery battery2{BATTERY_INDEX_2, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
Battery battery3{BATTERY_INDEX_3, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
Battery battery4{BATTERY_INDEX_4, this, SAMPLE_INTERVAL_US, battery_status_s::BATTERY_SOURCE_EXTERNAL};
Battery *_battery[battery_status_s::MAX_INSTANCES] {&battery1, &battery2, &battery3, &battery4};
};