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122 lines
4.3 KiB
C++
122 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016, 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file battery.h
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*
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* Library calls for battery functionality.
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#pragma once
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#include <uORB/topics/battery_status.h>
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#include <drivers/drv_hrt.h>
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#include <px4_module_params.h>
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class Battery : public ModuleParams
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{
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public:
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Battery();
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/**
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* Reset all battery stats and report invalid/nothing.
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*/
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void reset(battery_status_s *battery_status);
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/**
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* Get the battery cell count
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*/
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int cell_count() { return _n_cells.get(); }
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/**
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* Get the empty voltage per cell
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*/
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float empty_cell_voltage() { return _v_empty.get(); }
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/**
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* Get the full voltage per cell
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*/
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float full_cell_voltage() { return _v_charged.get(); }
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/**
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* Update current battery status message.
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*
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* @param voltage_v: current voltage in V
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* @param current_a: current current in A
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* @param connected: Battery is connected
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* @param selected_source: This battery is on the brick that the selected source for selected_source
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* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
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* @param throttle_normalized: throttle from 0 to 1
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*/
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void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
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bool connected, bool selected_source, int priority,
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float throttle_normalized,
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bool armed, battery_status_s *status);
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private:
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void filterVoltage(float voltage_v);
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void filterThrottle(float throttle);
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void filterCurrent(float current_a);
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void sumDischarged(hrt_abstime timestamp, float current_a);
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void estimateRemaining(float voltage_v, float current_a, float throttle, bool armed);
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void determineWarning(bool connected);
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void computeScale();
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::BAT_V_EMPTY>) _v_empty,
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(ParamFloat<px4::params::BAT_V_CHARGED>) _v_charged,
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(ParamInt<px4::params::BAT_N_CELLS>) _n_cells,
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(ParamFloat<px4::params::BAT_CAPACITY>) _capacity,
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(ParamFloat<px4::params::BAT_V_LOAD_DROP>) _v_load_drop,
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(ParamFloat<px4::params::BAT_R_INTERNAL>) _r_internal,
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(ParamFloat<px4::params::BAT_LOW_THR>) _low_thr,
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(ParamFloat<px4::params::BAT_CRIT_THR>) _crit_thr,
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(ParamFloat<px4::params::BAT_EMERGEN_THR>) _emergency_thr
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)
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bool _battery_initialized = false;
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float _voltage_filtered_v = -1.f;
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float _throttle_filtered = -1.f;
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float _current_filtered_a = -1.f;
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float _discharged_mah = 0.f;
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float _discharged_mah_loop = 0.f;
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float _remaining_voltage = -1.f; ///< normalized battery charge level remaining based on voltage
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float _remaining = -1.f; ///< normalized battery charge level, selected based on config param
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float _scale = 1.f;
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uint8_t _warning;
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hrt_abstime _last_timestamp;
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};
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