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Parameter for virtual battery in SITL (#12299)

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* New parameter for virtual battery in SITL

* Update src/modules/simulator/simulator_mavlink.cpp

Co-Authored-By: Beat Küng <beat-kueng@gmx.net>

* Updated description for parameter SIM_BAT_MIN_PCT
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alessandro 2019-07-02 15:53:18 +02:00 committed by GitHub
parent 9bfc4f2d54
commit fecb32f88d
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3 changed files with 16 additions and 2 deletions
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1
src/modules/simulator/simulator.h
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@ -300,6 +300,7 @@ private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _param_sim_bat_drain, ///< battery drain interval
(ParamFloat<px4::params::SIM_BAT_MIN_PCT>) _battery_min_percentage, //< minimum battery percentage
(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id

3
src/modules/simulator/simulator_mavlink.cpp
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@ -383,12 +383,11 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
}
float ibatt = -1.0f; // no current sensor in simulation
const float minimum_percentage = 0.499f; // change this value if you want to simulate low battery reaction
/* Simulate the voltage of a linearly draining battery but stop at the minimum percentage */
float battery_percentage = 1.0f - (now_us - batt_sim_start) / discharge_interval_us;
battery_percentage = math::max(battery_percentage, minimum_percentage);
battery_percentage = math::max(battery_percentage, _battery_min_percentage.get() / 100.f);
float vbatt = math::gradual(battery_percentage, 0.f, 1.f, _battery.empty_cell_voltage(), _battery.full_cell_voltage());
vbatt *= _battery.cell_count();

14
src/modules/simulator/simulator_params.c
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@ -51,3 +51,17 @@
* @group SITL
*/
PARAM_DEFINE_FLOAT(SIM_BAT_DRAIN, 60);
/**
* Simulator Battery minimal percentage. Can be used to alter
* the battery level during SITL- or HITL-simulation on the fly.
* Particularly useful for testing different low-battery behaviour.
*
* @min 0
* @max 100
* @increment 0.1
* @unit %
*
* @group SITL
*/
PARAM_DEFINE_FLOAT(SIM_BAT_MIN_PCT, 50.0f);