mirror of
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cmake remove circular linking and reorganize
- px4_add_module now requires MAIN - px4_add_library doesn't automatically link
This commit is contained in:
Daniel Agar
@@ -0,0 +1,34 @@
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############################################################################
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#
|
||||
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
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||||
############################################################################
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||||
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px4_add_library(battery battery.cpp)
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@@ -0,0 +1,237 @@
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/****************************************************************************
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||||
*
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||||
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
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* @file battery.cpp
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*
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* Library calls for battery functionality.
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#include "battery.h"
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#include <mathlib/mathlib.h>
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Battery::Battery() :
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ModuleParams(nullptr),
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_warning(battery_status_s::BATTERY_WARNING_NONE),
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_last_timestamp(0)
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{
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}
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void
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Battery::reset(battery_status_s *battery_status)
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{
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memset(battery_status, 0, sizeof(*battery_status));
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battery_status->current_a = -1.f;
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battery_status->remaining = 1.f;
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battery_status->scale = 1.f;
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battery_status->cell_count = _n_cells.get();
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// TODO: check if it is sane to reset warning to NONE
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battery_status->warning = battery_status_s::BATTERY_WARNING_NONE;
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battery_status->connected = false;
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}
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void
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Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
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bool connected, bool selected_source, int priority,
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float throttle_normalized,
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bool armed, battery_status_s *battery_status)
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{
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reset(battery_status);
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battery_status->timestamp = timestamp;
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filterVoltage(voltage_v);
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filterThrottle(throttle_normalized);
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filterCurrent(current_a);
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sumDischarged(timestamp, current_a);
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estimateRemaining(_voltage_filtered_v, _current_filtered_a, _throttle_filtered, armed);
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computeScale();
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if (_battery_initialized) {
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determineWarning(connected);
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}
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if (_voltage_filtered_v > 2.1f) {
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_battery_initialized = true;
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battery_status->voltage_v = voltage_v;
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battery_status->voltage_filtered_v = _voltage_filtered_v;
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battery_status->scale = _scale;
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battery_status->current_a = current_a;
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battery_status->current_filtered_a = _current_filtered_a;
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battery_status->discharged_mah = _discharged_mah;
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battery_status->warning = _warning;
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battery_status->remaining = _remaining;
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battery_status->connected = connected;
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battery_status->system_source = selected_source;
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battery_status->priority = priority;
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}
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}
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void
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Battery::filterVoltage(float voltage_v)
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{
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if (!_battery_initialized) {
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_voltage_filtered_v = voltage_v;
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}
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// TODO: inspect that filter performance
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const float filtered_next = _voltage_filtered_v * 0.99f + voltage_v * 0.01f;
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if (PX4_ISFINITE(filtered_next)) {
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_voltage_filtered_v = filtered_next;
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}
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}
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void
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Battery::filterCurrent(float current_a)
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{
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if (!_battery_initialized) {
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_current_filtered_a = current_a;
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}
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// ADC poll is at 100Hz, this will perform a low pass over approx 500ms
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const float filtered_next = _current_filtered_a * 0.98f + current_a * 0.02f;
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if (PX4_ISFINITE(filtered_next)) {
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_current_filtered_a = filtered_next;
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}
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}
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void Battery::filterThrottle(float throttle)
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{
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if (!_battery_initialized) {
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_throttle_filtered = throttle;
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}
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const float filtered_next = _throttle_filtered * 0.99f + throttle * 0.01f;
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if (PX4_ISFINITE(filtered_next)) {
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_throttle_filtered = filtered_next;
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}
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}
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void
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Battery::sumDischarged(hrt_abstime timestamp, float current_a)
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||||
{
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// Not a valid measurement
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if (current_a < 0.f) {
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||||
// Because the measurement was invalid we need to stop integration
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||||
// and re-initialize with the next valid measurement
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_last_timestamp = 0;
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return;
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||||
}
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||||
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||||
// Ignore first update because we don't know dt.
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if (_last_timestamp != 0) {
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const float dt = (timestamp - _last_timestamp) / 1e6;
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// mAh since last loop: (current[A] * 1000 = [mA]) * (dt[s] / 3600 = [h])
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_discharged_mah_loop = (current_a * 1e3f) * (dt / 3600.f);
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_discharged_mah += _discharged_mah_loop;
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}
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_last_timestamp = timestamp;
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}
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void
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Battery::estimateRemaining(float voltage_v, float current_a, float throttle, bool armed)
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{
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// remaining battery capacity based on voltage
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float cell_voltage = voltage_v / _n_cells.get();
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// correct battery voltage locally for load drop to avoid estimation fluctuations
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if (_r_internal.get() >= 0.f) {
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cell_voltage += _r_internal.get() * current_a;
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} else {
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// assume linear relation between throttle and voltage drop
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cell_voltage += throttle * _v_load_drop.get();
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}
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_remaining_voltage = math::gradual(cell_voltage, _v_empty.get(), _v_charged.get(), 0.f, 1.f);
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// choose which quantity we're using for final reporting
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if (_capacity.get() > 0.f) {
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// if battery capacity is known, fuse voltage measurement with used capacity
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if (!_battery_initialized) {
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// initialization of the estimation state
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_remaining = _remaining_voltage;
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} else {
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// The lower the voltage the more adjust the estimate with it to avoid deep discharge
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const float weight_v = 3e-4f * (1 - _remaining_voltage);
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_remaining = (1 - weight_v) * _remaining + weight_v * _remaining_voltage;
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// directly apply current capacity slope calculated using current
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_remaining -= _discharged_mah_loop / _capacity.get();
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_remaining = math::max(_remaining, 0.f);
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}
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} else {
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// else use voltage
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_remaining = _remaining_voltage;
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}
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||||
}
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void
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Battery::determineWarning(bool connected)
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{
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if (connected) {
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// propagate warning state only if the state is higher, otherwise remain in current warning state
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if (_remaining < _emergency_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_EMERGENCY)) {
|
||||
_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
|
||||
|
||||
} else if (_remaining < _crit_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
|
||||
_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
|
||||
|
||||
} else if (_remaining < _low_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_LOW)) {
|
||||
_warning = battery_status_s::BATTERY_WARNING_LOW;
|
||||
}
|
||||
}
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||||
}
|
||||
|
||||
void
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Battery::computeScale()
|
||||
{
|
||||
const float voltage_range = (_v_charged.get() - _v_empty.get());
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// reusing capacity calculation to get single cell voltage before drop
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const float bat_v = _v_empty.get() + (voltage_range * _remaining_voltage);
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_scale = _v_charged.get() / bat_v;
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if (_scale > 1.3f) { // Allow at most 30% compensation
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_scale = 1.3f;
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||||
|
||||
} else if (!PX4_ISFINITE(_scale) || _scale < 1.f) { // Shouldn't ever be more than the power at full battery
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_scale = 1.f;
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||||
}
|
||||
}
|
||||
@@ -0,0 +1,121 @@
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||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016, 2017 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file battery.h
|
||||
*
|
||||
* Library calls for battery functionality.
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_module_params.h>
|
||||
|
||||
|
||||
class Battery : public ModuleParams
|
||||
{
|
||||
public:
|
||||
Battery();
|
||||
|
||||
/**
|
||||
* Reset all battery stats and report invalid/nothing.
|
||||
*/
|
||||
void reset(battery_status_s *battery_status);
|
||||
|
||||
/**
|
||||
* Get the battery cell count
|
||||
*/
|
||||
int cell_count() { return _n_cells.get(); }
|
||||
|
||||
/**
|
||||
* Get the empty voltage per cell
|
||||
*/
|
||||
float empty_cell_voltage() { return _v_empty.get(); }
|
||||
|
||||
/**
|
||||
* Get the full voltage per cell
|
||||
*/
|
||||
float full_cell_voltage() { return _v_charged.get(); }
|
||||
|
||||
/**
|
||||
* Update current battery status message.
|
||||
*
|
||||
* @param voltage_v: current voltage in V
|
||||
* @param current_a: current current in A
|
||||
* @param connected: Battery is connected
|
||||
* @param selected_source: This battery is on the brick that the selected source for selected_source
|
||||
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
|
||||
* @param throttle_normalized: throttle from 0 to 1
|
||||
*/
|
||||
void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
|
||||
bool connected, bool selected_source, int priority,
|
||||
float throttle_normalized,
|
||||
bool armed, battery_status_s *status);
|
||||
|
||||
private:
|
||||
void filterVoltage(float voltage_v);
|
||||
void filterThrottle(float throttle);
|
||||
void filterCurrent(float current_a);
|
||||
void sumDischarged(hrt_abstime timestamp, float current_a);
|
||||
void estimateRemaining(float voltage_v, float current_a, float throttle, bool armed);
|
||||
void determineWarning(bool connected);
|
||||
void computeScale();
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::BAT_V_EMPTY>) _v_empty,
|
||||
(ParamFloat<px4::params::BAT_V_CHARGED>) _v_charged,
|
||||
(ParamInt<px4::params::BAT_N_CELLS>) _n_cells,
|
||||
(ParamFloat<px4::params::BAT_CAPACITY>) _capacity,
|
||||
(ParamFloat<px4::params::BAT_V_LOAD_DROP>) _v_load_drop,
|
||||
(ParamFloat<px4::params::BAT_R_INTERNAL>) _r_internal,
|
||||
(ParamFloat<px4::params::BAT_LOW_THR>) _low_thr,
|
||||
(ParamFloat<px4::params::BAT_CRIT_THR>) _crit_thr,
|
||||
(ParamFloat<px4::params::BAT_EMERGEN_THR>) _emergency_thr
|
||||
)
|
||||
|
||||
bool _battery_initialized = false;
|
||||
float _voltage_filtered_v = -1.f;
|
||||
float _throttle_filtered = -1.f;
|
||||
float _current_filtered_a = -1.f;
|
||||
float _discharged_mah = 0.f;
|
||||
float _discharged_mah_loop = 0.f;
|
||||
float _remaining_voltage = -1.f; ///< normalized battery charge level remaining based on voltage
|
||||
float _remaining = -1.f; ///< normalized battery charge level, selected based on config param
|
||||
float _scale = 1.f;
|
||||
uint8_t _warning;
|
||||
hrt_abstime _last_timestamp;
|
||||
};
|
||||
@@ -0,0 +1,198 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file battery_params.c
|
||||
*
|
||||
* Parameters defined by the battery lib.
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <parameters/param.h>
|
||||
|
||||
/**
|
||||
* Empty cell voltage (5C load)
|
||||
*
|
||||
* Defines the voltage where a single cell of the battery is considered empty.
|
||||
* The voltage should be chosen before the steep dropoff to 2.8V. A typical
|
||||
* lithium battery can only be discharged down to 10% before it drops off
|
||||
* to a voltage level damaging the cells.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit V
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.5f);
|
||||
|
||||
/**
|
||||
* Full cell voltage (5C load)
|
||||
*
|
||||
* Defines the voltage where a single cell of the battery is considered full
|
||||
* under a mild load. This will never be the nominal voltage of 4.2V
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit V
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.05f);
|
||||
|
||||
/**
|
||||
* Low threshold
|
||||
*
|
||||
* Sets the threshold when the battery will be reported as low.
|
||||
* This has to be higher than the critical threshold.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit norm
|
||||
* @min 0.12
|
||||
* @max 0.4
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_LOW_THR, 0.15f);
|
||||
|
||||
/**
|
||||
* Critical threshold
|
||||
*
|
||||
* Sets the threshold when the battery will be reported as critically low.
|
||||
* This has to be lower than the low threshold. This threshold commonly
|
||||
* will trigger RTL.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit norm
|
||||
* @min 0.05
|
||||
* @max 0.1
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_CRIT_THR, 0.07f);
|
||||
|
||||
/**
|
||||
* Emergency threshold
|
||||
*
|
||||
* Sets the threshold when the battery will be reported as dangerously low.
|
||||
* This has to be lower than the critical threshold. This threshold commonly
|
||||
* will trigger landing.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit norm
|
||||
* @min 0.03
|
||||
* @max 0.07
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_EMERGEN_THR, 0.05f);
|
||||
|
||||
/**
|
||||
* Voltage drop per cell on full throttle
|
||||
*
|
||||
* This implicitely defines the internal resistance
|
||||
* to maximum current ratio and assumes linearity.
|
||||
* A good value to use is the difference between the
|
||||
* 5C and 20-25C load. Not used if BAT_R_INTERNAL is
|
||||
* set.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit V
|
||||
* @min 0.07
|
||||
* @max 0.5
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
|
||||
|
||||
/**
|
||||
* Explicitly defines the per cell internal resistance
|
||||
*
|
||||
* If non-negative, then this will be used in place of
|
||||
* BAT_V_LOAD_DROP for all calculations.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit Ohms
|
||||
* @min -1.0
|
||||
* @max 0.2
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_R_INTERNAL, -1.0f);
|
||||
|
||||
/**
|
||||
* Number of cells.
|
||||
*
|
||||
* Defines the number of cells the attached battery consists of.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit S
|
||||
* @value 0 Unconfigured
|
||||
* @value 2 2S Battery
|
||||
* @value 3 3S Battery
|
||||
* @value 4 4S Battery
|
||||
* @value 5 5S Battery
|
||||
* @value 6 6S Battery
|
||||
* @value 7 7S Battery
|
||||
* @value 8 8S Battery
|
||||
* @value 9 9S Battery
|
||||
* @value 10 10S Battery
|
||||
* @value 11 11S Battery
|
||||
* @value 12 12S Battery
|
||||
* @value 13 13S Battery
|
||||
* @value 14 14S Battery
|
||||
* @value 15 15S Battery
|
||||
* @value 16 16S Battery
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(BAT_N_CELLS, 0);
|
||||
|
||||
/**
|
||||
* Battery capacity.
|
||||
*
|
||||
* Defines the capacity of the attached battery.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit mAh
|
||||
* @decimal 0
|
||||
* @min -1.0
|
||||
* @max 100000
|
||||
* @increment 50
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
|
||||
Reference in New Issue
Block a user