e6c49edd20
docs: battery: clarify BAT${i}_SOURCE parameter documentation ( #26071 )
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* docs: battery: clarify Power Module option to state that it works additionally for onboard Analog
* Update src/lib/battery/module.yaml
Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
* Update src/lib/battery/module.yaml
Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
* Update src/lib/battery/module.yaml
* Apply suggestions from code review
* Update msg/versioned/BatteryStatus.msg
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
2025-12-17 09:58:41 -09:00
1840c0db48
UAVCAN:BAT: improve remaining time calculation ( #25500 )
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* UAVCAN:BAT: improve remaining time calculation
* UAVCAN:BAT: fix time_remaining calculation, bugfixes, improved filter convergence time
* UAVCAN:BAT: remove BatteryInfo Publishing if no valid info
* UAVCAN + Battery library: suggestions while reviewing
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-09-05 10:57:13 +02:00
b5f37c9fa6
Simplify Battery-related Enum Naming ( #24265 )
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* Simplify battery-related enum naming
* Fix mistakenly removed string in enum names
* Fix missing renamings
* Update outdated file
* msg: Increase battery_status version since the enum naming was changed
* Revert message version increase
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com >
2025-02-28 11:42:40 -09:00
3d36c8519d
drivers/power_monitor: Implement temperature sensor support for INA228 / INA238
2024-09-05 23:09:01 -04:00
a91aa40a3d
battery: only reset soc filter with valid voltage measurement ( #23513 )
2024-08-08 17:09:36 +02:00
e5657ba011
battery: remove reboot required flag from BAT_N_CELLS
2024-07-30 16:18:47 +02:00
9ca9ae5b24
battery: fix initialization for internal resistance estimation
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Don't run/initialize if number of battery cells is zero and reinitialize whenever this parameter changes.
2024-07-30 16:18:47 +02:00
08c790217d
battery: increase max value for battery thresholds
2024-07-18 09:46:58 +02:00
5083ec52ec
battery: migrate parameters in .c file to .yaml file
2024-07-18 09:46:58 +02:00
8c4620b77e
battery: simplify battery scale calculation ( #23417 )
2024-07-17 12:22:52 +02:00
fd8df2e84d
Update int_res_est_replay.py ( #23351 )
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Pulls cell count, min voltage and max voltage from log file but still allows for over-rides. Also added debug info to tell user what what it found in the log and what it is using
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com >
2024-07-05 11:04:45 +02:00
c2ae6a7e24
BatteryStatus: remove current_filtered_a
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-07-03 16:41:49 +02:00
f65653a391
battery: add internal resistance estimation
2024-07-02 19:05:13 +02:00
71029689e7
battery: add replay file for internal resistance estimation
2024-07-02 19:05:13 +02:00
f4e76cd392
remove deprecated BAT_ params ( #22872 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-06-14 14:42:32 +02:00
b53d2cdf39
battery: reset current filter when transitioning to FW ( #22256 )
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VTOLs consume a lot more power in hover copared to fixed-wing fligt.
The remaining flight time thus should reset if one switches from MC to FW,
as otherwise it takes several minutes until the estimate goes down.
2024-06-07 09:28:37 +02:00
b87c5285e2
battery: weigh voltage based estimate more when it's low
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This is a minimal change to make it harder to crash a
vehicle with an empty battery if the capacity was set wrong.
The disadvantage is that the state of charge estimate will
fluctuate more under load.
We need better documentation and improvements to the estimation.
2024-04-02 19:22:28 +02:00
4c5f084445
Battery parameters: clarify empty, full voltage description
2024-03-27 17:15:39 +01:00
3576d513cd
battery: make time remaining estimation dependent on level flight cha… ( #22401 )
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* 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
d075956c4d
lib: battery allow for 3 instances
2024-01-22 19:29:38 -05:00
84577ce2c2
battery: skip charge estimation if N cells is 0
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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
ae888b73d0
battery: report over voltage
2023-11-06 18:17:28 +01:00
a03af59c5c
battery: show unknown cell count
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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
b16f16598b
VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics
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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
6f4d903f45
Battery: address two comments from #2242
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- use a constant instead of magic number
- fix code comment typo
2023-02-13 13:27:08 +01:00
98529a5b49
Battery: delay initialization of SoC ( #20729 )
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* 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
9e776741d9
battery: allow for external state of charge injection
2022-11-29 09:27:50 +01:00
87a5705960
Rename math::gradual() to math::interpolate() and add unit tests to cover additional corner cases.
2022-08-18 14:18:02 +02:00
e6eed43648
Spelling errors ( #19935 )
2022-07-27 14:33:16 +10:00
4f34207c4e
battery_params: increase default empty cellvoltage to 3.6v
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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
62edcc7a57
battery: only compensate using sane current
2022-05-23 16:40:32 +02:00
2cbdcc9671
battery: default to reasonable internal resistance
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instead of disabling the load compensation using current.
2022-05-23 16:40:32 +02:00
58b1139a21
battery: allow setting precise internal resistance with parameter
2022-05-23 16:40:32 +02:00
2c5a7ea118
battery: rather undercompensate for load
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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
dd28c3e019
battery: update average current also when no capacity is configured
2022-04-04 10:02:55 +02:00
13c3eae6d0
battery: use mechanism to keep an up to date armed state
2022-04-04 10:02:55 +02:00
3f6ab5ea19
battery: improve flight time remaining improvements
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- 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
495f1c9165
battery: don't initialize _source without constructor
2021-12-07 21:06:51 +01:00
b41e345a5b
battery: correct updateBatteryStatus() description
2021-12-07 21:06:51 +01:00
fdc40880d0
battery: separate out publishing from updating
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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
e70d70468a
battery: pass voltage and current by setter
2021-12-07 21:06:51 +01:00
39641494da
battery: pass connected flag in by setter
2021-12-07 21:06:51 +01:00
38d23f5345
battery: pass priority in by setter
2021-12-07 21:06:51 +01:00
f9fc9a9af6
battery: pass source in by constructor
2021-12-07 21:06:51 +01:00
b965923c08
battery: fetch throttle value inside of class
2021-12-07 21:06:51 +01:00
ddc6b6bc9c
battery: move MAVLink specific handling out of battery class
2021-12-07 21:06:51 +01:00
da2fdf923e
battery parameters: allow usage of 1S battery
2021-12-07 21:06:51 +01:00
91c48606ee
battery_status: clearly define and handle zero remaining flight time
2021-11-15 15:44:02 +01:00
73287e8e8c
battery: compute remaining flight time
2021-11-15 15:44:02 +01:00
40f9b53b90
Remove a couple of unnecessary reboot_required from parameter meta data
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-08-13 10:35:43 -04:00
Jacob Dahl