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Battery charge estimation: Factor in voltage drop for idle props

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This commit is contained in:
Lorenz Meier
2016-05-06 18:14:34 +02:00
parent 48d7295be6
commit ebaca071f6
4 changed files with 16 additions and 9 deletions
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src/modules/systemlib/battery.cpp
+8 -5
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@@ -71,7 +71,7 @@ Battery::reset(battery_status_s *battery_status)
{
memset(battery_status, 0, sizeof(*battery_status));
battery_status->current_a = -1.0f;
battery_status->remaining = 0.0f;
battery_status->remaining = 1.0f;
battery_status->cell_count = _param_n_cells.get();
// TODO: check if it is sane to reset warning to NONE
battery_status->warning = battery_status_s::BATTERY_WARNING_NONE;
@@ -79,13 +79,13 @@ Battery::reset(battery_status_s *battery_status)
void
Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, float throttle_normalized,
battery_status_s *battery_status)
bool armed, battery_status_s *battery_status)
{
reset(battery_status);
battery_status->timestamp = timestamp;
filterVoltage(voltage_v);
sumDischarged(timestamp, current_a);
estimateRemaining(voltage_v, throttle_normalized);
estimateRemaining(voltage_v, throttle_normalized, armed);
determineWarning();
if (_voltage_filtered_v > 2.1f) {
@@ -134,10 +134,13 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
}
void
Battery::estimateRemaining(float voltage_v, float throttle_normalized)
Battery::estimateRemaining(float voltage_v, float throttle_normalized, bool armed)
{
// assume 10% voltage drop of the full drop range with motors idle
const float thr = (armed) ? ((fabsf(throttle_normalized) + 0.1f) / 1.1f) : 0.0f;
// remaining charge estimate based on voltage and internal resistance (drop under load)
const float bat_v_empty_dynamic = _param_v_empty.get() - (_param_v_load_drop.get() * fabsf(throttle_normalized));
const float bat_v_empty_dynamic = _param_v_empty.get() - (_param_v_load_drop.get() * thr);
// the range from full to empty is the same for batteries under load and without load,
// since the voltage drop applies to both the full and empty state