* 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>
The previous problem was roll,pitch and yaw angle from quaternion.
Now it is fixed. 1-2-3 Euler representation is used.
Also accelerometer sign change has been applied.
The previous problem was roll,pitch and yaw angle from quaternion.
Now it is fixed. 1-2-3 Euler representation is used.
Also accelerometer sign change has been applied.
Here are few observations:
- When the system initialized, roll angle is initially reversed.
As filter converged, it becomes normal.
- I put a negative sign on roll, yaw. It should naturally has right
sign, but I do not know why for now. Let me investigate again.
- Gain : I do not know what gain is good for quadrotor flight.
Let me take a look Ardupilot gain in the later.
Anyway, you can fly with this attitude estimator.
