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added battery current sensor offset

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This commit is contained in:
Andreas Antener 2016-03-30 20:08:43 +02:00 committed by Lorenz Meier
parent 4a4ab13bfe
commit ffb72d3fae
2 changed files with 19 additions and 1 deletions
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8
src/modules/sensors/sensor_params.c
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@ -1960,6 +1960,14 @@ PARAM_DEFINE_FLOAT(BAT_V_SCALING, -1.0f);
*/
PARAM_DEFINE_FLOAT(BAT_C_SCALING, -1.0);
/**
* Offset for battery current sensor.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_C_OFFSET, -1.0);
/**
* RC channel count

12
src/modules/sensors/sensors.cpp
View File

@ -321,6 +321,7 @@ private:
float battery_voltage_scaling;
float battery_current_scaling;
float battery_current_offset;
float baro_qnh;
@ -380,6 +381,7 @@ private:
param_t battery_voltage_scaling;
param_t battery_current_scaling;
param_t battery_current_offset;
param_t board_rotation;
@ -652,6 +654,7 @@ Sensors::Sensors() :
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
_parameter_handles.battery_current_scaling = param_find("BAT_C_SCALING");
_parameter_handles.battery_current_offset = param_find("BAT_C_OFFSET");
/* rotations */
_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
@ -927,6 +930,13 @@ Sensors::parameters_update()
#endif
}
if (param_get(_parameter_handles.battery_current_offset, &(_parameters.battery_current_offset)) != OK) {
warnx("%s", paramerr);
} else if (_parameters.battery_current_offset < 0.0f) {
_parameters.battery_current_offset = 0.0f;
}
param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
@ -1669,7 +1679,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
} else if (ADC_BATTERY_CURRENT_CHANNEL == buf_adc[i].am_channel) {
/* handle current only if voltage is valid */
if (_battery_status.voltage_v > 0.0f) {
float current = (buf_adc[i].am_data * _parameters.battery_current_scaling);
float current = ((buf_adc[i].am_data - _parameters.battery_current_offset) * _parameters.battery_current_scaling);
/* check measured current value */
if (current >= 0.0f) {