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battery: add internal resistance estimation

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chfriedrich98
2024-07-02 19:05:13 +02:00
committed by Silvan Fuhrer
parent 71029689e7
commit f65653a391
7 changed files with 109 additions and 63 deletions
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msg/BatteryStatus.msg
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@@ -76,3 +76,11 @@ float32 design_capacity # The design capacity of the battery
uint16 average_time_to_full # The predicted remaining time until the battery reaches full charge, in minutes
uint16 over_discharge_count # Number of battery overdischarge
float32 nominal_voltage # Nominal voltage of the battery pack
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
float32 ocv_estimate # [V] Open circuit voltage estimate
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
float32 volt_based_soc_estimate # [0, 1] Normalized volt based state of charge estimate
float32 voltage_prediction # [V] Predicted voltage
float32 prediction_error # [V] Prediction error
float32 estimation_covariance_norm # Norm of the covariance matrix