PX4-Autopilot/src/lib/battery/module.yaml

__max_num_config_instances: &max_num_config_instances 3

module_name: battery

parameters:
    - group: Battery Calibration
      definitions:
        BAT${i}_V_EMPTY:
            description:
                short: Empty cell voltage
                long: |
                    Defines the voltage where a single cell of the battery is considered empty.
                    The voltage should be chosen above the steep dropoff at 3.5V. A typical
                    lithium battery can only be discharged under high load down to 10% before
                    it drops off to a voltage level damaging the cells.

            type: float
            unit: V
            decimal: 2
            increment: 0.01
            reboot_required: true
            num_instances: *max_num_config_instances
            instance_start: 1
            default: [3.6, 3.6, 3.6]

        BAT${i}_V_CHARGED:
            description:
                short: Full cell voltage
                long: |
                    Defines the voltage where a single cell of the battery is considered full.
                    For a more accurate estimate set this below the nominal voltage of e.g. 4.2V

            type: float
            unit: V
            decimal: 2
            increment: 0.01
            reboot_required: true
            num_instances: *max_num_config_instances
            instance_start: 1
            default: [4.05, 4.05, 4.05]

        BAT${i}_R_INTERNAL:
            description:
                short: Explicitly defines the per cell internal resistance for battery ${i}
                long: |
                    If non-negative, then this will be used instead of the online estimated internal resistance.

            type: float
            unit: Ohm
            min: -1.0
            max: 0.2
            decimal: 4
            increment: 0.0005
            reboot_required: true
            num_instances: *max_num_config_instances
            instance_start: 1
            default: [-1.0, -1.0, -1.0]

        BAT${i}_N_CELLS:
            description:
                short: Number of cells for battery ${i}.
                long: |
                    Defines the number of cells the attached battery consists of.

            type: enum
            values:
                0: Unknown
                1: 1S Battery
                2: 2S Battery
                3: 3S Battery
                4: 4S Battery
                5: 5S Battery
                6: 6S Battery
                7: 7S Battery
                8: 8S Battery
                9: 9S Battery
                10: 10S Battery
                11: 11S Battery
                12: 12S Battery
                13: 13S Battery
                14: 14S Battery
                15: 15S Battery
                16: 16S Battery
            num_instances: *max_num_config_instances
            instance_start: 1
            default: [0, 0, 0]

        BAT${i}_CAPACITY:
            description:
                short: Battery ${i} capacity.
                long: |
                    Defines the capacity of battery ${i} in mAh.
            type: float
            unit: mAh
            min: -1.0
            max: 100000
            decimal: 0
            increment: 50
            reboot_required: true
            num_instances: *max_num_config_instances
            instance_start: 1
            default: [-1.0, -1.0, -1.0]

        BAT${i}_SOURCE:
            description:
                short: Battery ${i} monitoring source.
                long: |
                    This parameter controls the source of battery data. The value 'Power Module / Analog'
                    means that measurements are expected to come from either analog (ADC) inputs
                    or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
                    measurements read from the board's ADC channels, typically from an onboard
                    voltage divider and current shunt, or an external analog power module.
                    I2C power monitors are digital sensors on the I2C bus.
                    If the value is set to 'External' then the system expects to receive MAVLink
                    or CAN battery status messages, or the battery data is published by an external driver.
                    If the value is set to 'ESCs', the battery information are taken from the esc_status message.
                    This requires the ESC to provide both voltage as well as current (via ESC telemetry).
            type: enum
            values:
                -1: Disabled
                0: Power Module / Analog
                1: External
                2: ESCs
            reboot_required: true
            num_instances: *max_num_config_instances
            instance_start: 1
            default: [0, -1, -1]

        BAT_LOW_THR:
            description:
                short: Low threshold.
                long: |
                    Sets the threshold when the battery will be reported as low.
                    This has to be higher than the critical threshold.
            type: float
            unit: norm
            min: 0.12
            max: 0.5
            decimal: 2
            increment: 0.01
            default: 0.15

        BAT_CRIT_THR:
            description:
                short: Critical threshold.
                long: |
                    Sets the threshold when the battery will be reported as critically low.
                    This has to be lower than the low threshold. This threshold commonly
                    will trigger RTL.
            type: float
            unit: norm
            min: 0.05
            max: 0.5
            decimal: 2
            increment: 0.01
            default: 0.07

        BAT_EMERGEN_THR:
            description:
                short: Emergency threshold.
                long: |
                    Sets the threshold when the battery will be reported as dangerously low.
                    This has to be lower than the critical threshold. This threshold commonly
                    will trigger landing.
            type: float
            unit: norm
            min: 0.03
            max: 0.5
            decimal: 2
            increment: 0.01
            default: 0.05

        BAT_AVRG_CURRENT:
            description:
                short: Expected battery current in flight.
                long: |
                    This value is used to initialize the in-flight average current estimation,
                    which in turn is used for estimating remaining flight time and RTL triggering.
            type: float
            unit: A
            min: 0
            max: 500
            decimal: 2
            increment: 0.1
            default: 15