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78 Commits
Author SHA1 Message Date
KonradRudinandSilvan Fuhrer 3576d513cd battery: make time remaining estimation dependent on level flight cha… (#22401) 
* battery: make time remaining estimation dependent on level flight characteristis for FW

* battery: fix that FW flight is also correctly detected when vehicle_status is not updated

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FixedwingPositionControl: Move constant to header file

* flight phase estimation: use tecs height rate reference to check for level flight

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-06 17:32:09 +01:00
alexklimaj d075956c4d lib: battery allow for 3 instances 2024-01-22 19:29:38 -05:00
Julian Oes 84577ce2c2 battery: skip charge estimation if N cells is 0 
This triggers the undefined behaviour fuzzer, so let's try to fix it.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-11-13 09:55:39 +01:00
Matthias Grob ae888b73d0 battery: report over voltage 2023-11-06 18:17:28 +01:00
Matthias Grob a03af59c5c battery: show unknown cell count 
Unkown cell count is the default and
should be possible to select again from the drop down.
 2023-09-28 07:32:06 +02:00
Silvan Fuhrer b16f16598b VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics 
MC/FW rate controller and auto tuner: remove actuator_controls

AirshipAttControl: remove actuator_controls

MulticopterLandDetector: remove actuator_controls

mavlink streams vfr_hud and high_latency2: remove actuator_controls

RoverPositionController: remove actuator_controls

UUVAttitudeController: remove actuator_controls

battery: use length of thrust_setpoint for throttle compensation

VehicleMagnetometer: use length of thrust_setpoint for throttle compensation

Signed-off-by: Silvan Fuhrer
 2023-03-16 11:55:45 +01:00
Matthias Grob 6f4d903f45 Battery: address two comments from #2242 
- use a constant instead of magic number
- fix code comment typo
 2023-02-13 13:27:08 +01:00
Yannick FuhrerandMatthias Grob 98529a5b49 Battery: delay initialization of SoC (#20729) 
* Battery: delay initialization of SoC

* battery: rework of battery initialization delay

Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-12-26 18:44:22 +01:00
Matthias Grob 9e776741d9 battery: allow for external state of charge injection 2022-11-29 09:27:50 +01:00
mcsauder 87a5705960 Rename math::gradual() to math::interpolate() and add unit tests to cover additional corner cases. 2022-08-18 14:18:02 +02:00
Hamish Willee e6eed43648 Spelling errors (#19935) 2022-07-27 14:33:16 +10:00
Matthias Grob 4f34207c4e battery_params: increase default empty cellvoltage to 3.6v 
Based on feedback that very often the battery is used down too low.
I observed this happens consistently when the cell voltage is properly
load compensated. The default load compensation before #19429 was very
inaccurate and resulted in unpredictable estimate.
After that if there is a usable current measurement and the battery is
within expected tolerances of the default internal resistance the
compensation is pretty good and 3.5V is too low for an empty compensated
cell voltage. That was seen in various logs where the compensated
cell voltage was already dropping fast after 3.6V.

In case the voltage is not load compensated the vehicle estimates the
state of charge a bit too low which is safer than to high
especially for a default configuration.
 2022-05-24 11:26:58 +02:00
Matthias Grob 62edcc7a57 battery: only compensate using sane current 2022-05-23 16:40:32 +02:00
Matthias Grob 2cbdcc9671 battery: default to reasonable internal resistance 
instead of disabling the load compensation using current.
 2022-05-23 16:40:32 +02:00
Matthias Grob 58b1139a21 battery: allow setting precise internal resistance with parameter 2022-05-23 16:40:32 +02:00
Matthias Grob 2c5a7ea118 battery: rather undercompensate for load 
than over compensate which makes the estimate to high and breaks batteries
beause they get flown for too long.
 2022-05-23 16:40:32 +02:00
Matthias Grob dd28c3e019 battery: update average current also when no capacity is configured 2022-04-04 10:02:55 +02:00
Matthias Grob 13c3eae6d0 battery: use mechanism to keep an up to date armed state 2022-04-04 10:02:55 +02:00
Silvan Fuhrer 3f6ab5ea19 battery: improve flight time remaining improvements 
- introduce BAT_AVRG_CURRENT param that is used for init of average current estimate
- increase filtering of average current estimation
- only update average current filter when armed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-04-04 10:02:55 +02:00
Matthias Grob 495f1c9165 battery: don't initialize _source without constructor 2021-12-07 21:06:51 +01:00
Matthias Grob b41e345a5b battery: correct updateBatteryStatus() description 2021-12-07 21:06:51 +01:00
Matthias Grob fdc40880d0 battery: separate out publishing from updating 
to allow smart battery drivers to use the battery class and
filling in additional information in case it makes sense.
 2021-12-07 21:06:51 +01:00
Matthias Grob e70d70468a battery: pass voltage and current by setter 2021-12-07 21:06:51 +01:00
Matthias Grob 39641494da battery: pass connected flag in by setter 2021-12-07 21:06:51 +01:00
Matthias Grob 38d23f5345 battery: pass priority in by setter 2021-12-07 21:06:51 +01:00
Matthias Grob f9fc9a9af6 battery: pass source in by constructor 2021-12-07 21:06:51 +01:00
Matthias Grob b965923c08 battery: fetch throttle value inside of class 2021-12-07 21:06:51 +01:00
Matthias Grob ddc6b6bc9c battery: move MAVLink specific handling out of battery class 2021-12-07 21:06:51 +01:00
Matthias Grob da2fdf923e battery parameters: allow usage of 1S battery 2021-12-07 21:06:51 +01:00
Matthias Grob 91c48606ee battery_status: clearly define and handle zero remaining flight time 2021-11-15 15:44:02 +01:00
Matthias Grob 73287e8e8c battery: compute remaining flight time 2021-11-15 15:44:02 +01:00
Silvan Fuhrer 40f9b53b90 Remove a couple of unnecessary reboot_required from parameter meta data 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-08-13 10:35:43 -04:00
Daniel Agar e9f84ba708 keep minimal legacy battery parameters for older QGC usability 
- BAT_V_EMPTY, BAT_V_CHARGED, BAT_V_LOAD_DROP, BAT_N_CELLS
 2021-07-23 15:07:53 -04:00
Daniel Agar b5430c22c4 AlphaFilter: move from ecl -> mathlib 2021-07-15 10:38:24 -04:00
Daniel Agar c5b1fe86ca delete deprecated BAT_* parameters 2021-07-08 22:19:12 -04:00
Matthias Grob 62546350f1 battery: use local instead of global member battery_status message 2021-07-01 14:24:38 +02:00
Matthias Grob fa976f84b1 battery: clear interface for determineWarning() 2021-07-01 14:24:38 +02:00
Matthias Grob b824f33ae9 battery: publish measured values also when battery not connected 2021-07-01 14:24:38 +02:00
Matthias Grob a99ddd0845 battery: don't reset on every loop iteration 2021-07-01 14:24:38 +02:00
Matthias Grob 8d74e52bb7 battery: omit separate publish() function 2021-07-01 14:24:38 +02:00
Matthias Grob 41cc73e555 battery: simplify battery_initialized condition 2021-07-01 14:24:38 +02:00
Matthias Grob a51d47f8e8 battery: connected check outside of determineWarning() 2021-07-01 14:24:38 +02:00
David Sidrane 17502da493 lib/battery:Fix types 2021-06-16 17:07:47 +02:00
Sander Smeets 517a1d0116 battery_status: factor in total current consumption in battery remaining estimation 2021-03-15 12:32:45 -04:00
Alex Mikhalev d01806a0c6 lib/battery: Fix cell voltages with >10S 
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
 2021-02-28 22:10:23 -05:00
Matthias Grob 39b0c7b2bf battery: report at least one cell for a connected battery 2021-01-18 17:53:17 +01:00
Julian Oes fd261b590c battery: don't init uint16_t with -1.0f 
This was flagged as undefined behaviour by fuzz testing.
 2020-12-08 09:58:29 +01:00
Beat Küng f776997a07 battery: disable secondary module by default 
Avoid a GCS showing 2 battery indicators.
Alternatively we could also check the 'connected' flag, but this is more
explicit.
 2020-10-20 09:18:47 +02:00
Beat Küng 83b81fbbef battery: fix isFloatEqual(), use matrix::isEqualF 
Fixes param migration, e.g. if BAT_N_CELLS is set, migrates to
BAT1_N_CELLS.
 2020-10-20 09:18:47 +02:00
Beat Küng 6ae17eb13c fix EscBattery: remove _battery.publish(); 
updateBatteryStatus() already publishes
 2020-10-20 09:18:47 +02:00