fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-02 06:01:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

battery: clear interface for determineWarning()

Browse Source
This commit is contained in:
Matthias Grob
2021-07-01 14:24:38 +02:00
parent f41c294028
commit fa976f84b1
2 changed files with 10 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/battery/battery.cpp
+9 -10
View File
@@ -120,7 +120,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
computeScale(); computeScale();
if (connected && _battery_initialized) { if (connected && _battery_initialized) {
determineWarning(); _warning = determineWarning(_state_of_charge);
} }
if (_voltage_filter_v.getState() > 2.1f) { if (_voltage_filter_v.getState() > 2.1f) {
@@ -219,20 +219,19 @@ void Battery::estimateStateOfCharge(const float voltage_v, const float current_a
} }
} }
void Battery::determineWarning() uint8_t Battery::determineWarning(float state_of_charge)
{ {
// propagate warning state only if the state is higher, otherwise remain in current warning state if (state_of_charge < _params.emergen_thr) {
if (_battery_status.remaining < _params.emergen_thr) { return battery_status_s::BATTERY_WARNING_EMERGENCY;
_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
} else if (_battery_status.remaining < _params.crit_thr) { } else if (state_of_charge < _params.crit_thr) {
_warning = battery_status_s::BATTERY_WARNING_CRITICAL; return battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (_battery_status.remaining < _params.low_thr) { } else if (state_of_charge < _params.low_thr) {
_warning = battery_status_s::BATTERY_WARNING_LOW; return battery_status_s::BATTERY_WARNING_LOW;
} else { } else {
_warning = battery_status_s::BATTERY_WARNING_NONE; return battery_status_s::BATTERY_WARNING_NONE;
} }
} }
src/lib/battery/battery.h
+1 -1
View File
@@ -187,7 +187,7 @@ protected:
private: private:
void sumDischarged(const hrt_abstime &timestamp, float current_a); void sumDischarged(const hrt_abstime &timestamp, float current_a);
void estimateStateOfCharge(const float voltage_v, const float current_a, const float throttle); void estimateStateOfCharge(const float voltage_v, const float current_a, const float throttle);
void determineWarning(); uint8_t determineWarning(float state_of_charge);
void computeScale(); void computeScale();
uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)}; uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};