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battery: pass source in by constructor

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This commit is contained in:
Matthias Grob
2021-12-07 21:06:51 +01:00
parent b965923c08
commit f9fc9a9af6
13 changed files with 26 additions and 41 deletions
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src/lib/battery/battery.cpp
+6 -5
View File
@@ -47,9 +47,10 @@
using namespace time_literals;
Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us) :
Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source) :
ModuleParams(parent),
_index(index < 1 || index > 9 ? 1 : index)
_index(index < 1 || index > 9 ? 1 : index),
_source(source)
{
const float expected_filter_dt = static_cast<float>(sample_interval_us) / 1_s;
_voltage_filter_v.setParameters(expected_filter_dt, 1.f);
@@ -97,7 +98,7 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us)
}
void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
int source, int priority)
int priority)
{
if (!_battery_initialized) {
_voltage_filter_v.reset(voltage_v);
@@ -134,13 +135,13 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
battery_status.temperature = NAN;
battery_status.cell_count = _params.n_cells;
battery_status.connected = connected;
battery_status.source = source;
battery_status.source = _source;
battery_status.priority = priority;
battery_status.capacity = _params.capacity > 0.f ? static_cast<uint16_t>(_params.capacity) : 0;
battery_status.id = static_cast<uint8_t>(_index);
battery_status.warning = _warning;
if (source == _params.source) {
if (_source == _params.source) {
battery_status.timestamp = hrt_absolute_time();
_battery_status_pub.publish(battery_status);
}
src/lib/battery/battery.h
+3 -3
View File
@@ -67,7 +67,7 @@
class Battery : public ModuleParams
{
public:
Battery(int index, ModuleParams *parent, const int sample_interval_us);
Battery(int index, ModuleParams *parent, const int sample_interval_us, const uint8_t source);
~Battery() = default;
/**
@@ -91,11 +91,10 @@ public:
* @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())
* @param source: Source type in relation to BAT%d_SOURCE param.
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
*/
void updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
int source, int priority);
int priority);
protected:
struct {
@@ -139,6 +138,7 @@ private:
uORB::Subscription _actuator_controls_0_sub{ORB_ID(actuator_controls_0)};
uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
const uint8_t _source{};
bool _battery_initialized{false};
AlphaFilter<float> _voltage_filter_v;
AlphaFilter<float> _current_filter_a;