Previously if in a cycle only a disconnected battery status updated, the
battery health state would switch to unhealthy during that time.
Fixes intermittent 'Arming denied! Check battery' preflight failures on
v5x with 1 power module connected.
* Enhancement: State of health, and max_error value is added. Both shows battery health of SMBUS smart battery.
* Enhancement: BAT_C_MULT parameter is introduced. This is for high-current capable SMBUS-based battery.
As SMBUS only provides 16-bit for current, it could only be +-32768mA which is about +-32A.
But with proper treatment, it could be extended with little accuracy loss.
This factor can be set for individual battery system with available information.
* Relative SOC introduced. Proper SMBUS battery should provide percentage of remaining battery
directly. Therefore it does not have to be computed like before.
* State of Health introduced. Proper SMBUS battery should provide SOH value.
* Max error: this shows estimation error of BMS.
* Enhancement: With smart battery, precise estimation of time remaining is provided
with impedance track. It is unit of minute, so 60 seconds multiplied.
Update rate of this is not fast, but very useful.
Co-authored-by: Hyon Lim <lim@uvify.com>
Fixes case where a UAVCAN SensorBridge has callback channels available,
but NuttX / uORB does not have an additional driver / topic instance
available.
Previously acceleration setpoints were not executed and just used
to pass a possible rough initialization value for the next task. Now
they get executed by the multicopter controller and hence
overwriting them with rough estimates doesn't work anymore.
This mode was just kept as an example after
its usage in a single case. It's basically untested
and doesn't make much sense anymore since it's
incompatible with the jerk limited trajectory
implementations. It's implementation only switched
hte configuration parameter of the velocity resulting
from maximum stick deflection to be
MPC_XY_VEL_MAX instead of MPC_VEL_MANUAL.
This is according to todays understanding undesired
because when hitting that limit the position
controller has no room for corrections anymore.
Also it saves some flash space on omnibus to remove
the task at this point and makes romm for the
acceleration feed-forward.
Ubuntu 20.04 and latest Cygwin come with no Python 2 and no link
from python to python3. To not mess with the system we detect
python3 for seamless support.
RomanBapst