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battery: pass voltage and current by setter

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This commit is contained in:
Matthias Grob
2021-12-07 21:06:51 +01:00
parent 39641494da
commit e70d70468a
10 changed files with 71 additions and 75 deletions
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src/lib/battery/battery.cpp
+19 -9
View File
@@ -97,16 +97,26 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us,
updateParams();
}
void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a)
void Battery::updateVoltage(const float voltage_v)
{
_voltage_v = voltage_v;
_voltage_filter_v.update(voltage_v);
}
void Battery::updateCurrent(const float current_a)
{
_current_a = current_a;
_current_filter_a.update(current_a);
}
void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
{
if (!_battery_initialized) {
_voltage_filter_v.reset(voltage_v);
_current_filter_a.reset(current_a);
_voltage_filter_v.reset(_voltage_v);
_current_filter_a.reset(_current_a);
}
_voltage_filter_v.update(voltage_v);
_current_filter_a.update(current_a);
sumDischarged(timestamp, current_a);
sumDischarged(timestamp, _current_a);
estimateStateOfCharge(_voltage_filter_v.getState(), _current_filter_a.getState());
computeScale();
@@ -122,15 +132,15 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
}
battery_status_s battery_status{};
battery_status.voltage_v = voltage_v;
battery_status.voltage_v = _voltage_v;
battery_status.voltage_filtered_v = _voltage_filter_v.getState();
battery_status.current_a = current_a;
battery_status.current_a = _current_a;
battery_status.current_filtered_a = _current_filter_a.getState();
battery_status.current_average_a = _current_average_filter_a.getState();
battery_status.discharged_mah = _discharged_mah;
battery_status.remaining = _state_of_charge;
battery_status.scale = _scale;
battery_status.time_remaining_s = computeRemainingTime(current_a);
battery_status.time_remaining_s = computeRemainingTime(_current_a);
battery_status.temperature = NAN;
battery_status.cell_count = _params.n_cells;
battery_status.connected = _connected;
src/lib/battery/battery.h
+5 -3
View File
@@ -87,15 +87,15 @@ public:
void setPriority(const uint8_t priority) { _priority = priority; }
void setConnected(const bool connected) { _connected = connected; }
void updateVoltage(const float voltage_v);
void updateCurrent(const float current_a);
/**
* Update current battery status message.
*
* @param voltage_raw: Battery voltage, in Volts
* @param current_raw: Battery current, in Amps
* @param timestamp: Time at which the ADC was read (use hrt_absolute_time())
*/
void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a);
void updateBatteryStatus(const hrt_abstime &timestamp);
protected:
struct {
@@ -143,7 +143,9 @@ private:
const uint8_t _source{};
uint8_t _priority{0};
bool _battery_initialized{false};
float _voltage_v{0.f};
AlphaFilter<float> _voltage_filter_v;
float _current_a{-1};
AlphaFilter<float> _current_filter_a;
AlphaFilter<float> _current_average_filter_a;
AlphaFilter<float> _throttle_filter;