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56 Commits

Author SHA1 Message Date
KonradRudin
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
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
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 Fuhrer
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
Matthias Grob
62edcc7a57 battery: only compensate using sane current 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
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
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
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
Daniel Agar
016ee6ea59
battery: fix duplicate uORB publish and minor cleanup 
- run battery_status module on adc_report publications rather than a fixed schedule
 2020-10-05 11:01:58 -04:00
Matthias Grob
1d562aaf4a battery: switch to PublicationMulti for battery_status 2020-09-01 10:25:03 +02:00
Matthias Grob
9c4e26c00c battery: fix parameter migration and clarify 2020-09-01 10:25:03 +02:00
Daniel Agar
27f23ac290 move initial sensor priority to parameters and purge ORB_PRIORITY 
- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
 2020-08-21 10:12:13 -04:00
Matthias Grob
88c21337fa Make all battery sensor drivers report their sample interval 
To make use of the time abstraction in the leaky integrator.
 2020-05-25 11:04:24 +02:00
Matthias Grob
4dc9ca69ab battery: use AlphaFilter class 
Replace the filtered value calculations with calls to the class.
This will allow time abstraction.
 2020-05-25 11:04:24 +02:00
Julian Oes
f650b91718 battery: check source param inside battery lib 
This moves the handling of the BAT%d_SOURCE param inside of the battery
library. Users of the library now pass the source instead of the flag
whether to publish. The battery library then checks if the source is
selected using the param and publishes accordingly.

Since we removed the strange system_source flag, we now need to look at
all batteries in commander.
For current estimation - I think - it makes sense to sum them up.
 2020-04-06 15:56:54 +02:00
Matthias Grob
49d22edc33 battery: cell voltage fill refactor 2020-03-31 09:14:50 +02:00
Timothy Scott
14a61a6695 Fixed reporting of battery voltages in uORB 2020-03-31 09:14:50 +02:00
Timothy Scott
4c1adc088f Removed all swapping of uORB instances 2020-02-21 22:38:26 -08:00
Timothy Scott
fc1341208f INA226: Integrate with PX4 (#12673) 
* Publish I2C battery data as battery_status
 2019-12-28 12:30:11 -05:00
Daniel Agar
de9e4dda4c battery: delete unused armed 2019-12-12 09:48:45 -05:00
Timothy Scott
993fa5bd37 Refactored to work with new battery_status module 2019-12-05 16:38:04 +01:00
Timothy Scott
d7bb5d46bb Created new AnalogBattery class 2019-12-05 16:38:04 +01:00
Timothy Scott
bff1df7080 Refactored battery library for multiple instances 2019-12-05 16:38:04 +01:00
RomanBapst
e360dd34f9 battery: make battery states not sticky 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-11-29 10:23:08 +03:00