From 402c84c003983c09dd5800eaed0a1bd9b24b1cea Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sun, 14 Jul 2013 20:26:07 +0000
Subject: [PATCH] OP-994 Added zero calibration settings

+review OPReview-506
---
 flight/modules/Battery/battery.c                     | 4 ++--
 shared/uavobjectdefinition/flightbatterysettings.xml | 4 +---
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/flight/modules/Battery/battery.c b/flight/modules/Battery/battery.c
index 7509e6a03..d10acd553 100644
--- a/flight/modules/Battery/battery.c
+++ b/flight/modules/Battery/battery.c
@@ -135,13 +135,13 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
 
     // calculate the battery parameters
     if (voltageADCPin >= 0) {
-        flightBatteryData.Voltage = PIOS_ADC_PinGetVolt(voltageADCPin) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; // in Volts
+        flightBatteryData.Voltage = (PIOS_ADC_PinGetVolt(voltageADCPin) - batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEZERO]) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; // in Volts
     } else {
         flightBatteryData.Voltage = 0; // Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
     }
 
     if (currentADCPin >= 0) {
-        flightBatteryData.Current = PIOS_ADC_PinGetVolt(currentADCPin) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; // in Amps
+        flightBatteryData.Current = (PIOS_ADC_PinGetVolt(currentADCPin) - batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTZERO]) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; // in Amps
         if (flightBatteryData.Current > flightBatteryData.PeakCurrent) {
             flightBatteryData.PeakCurrent = flightBatteryData.Current; // in Amps
         }
diff --git a/shared/uavobjectdefinition/flightbatterysettings.xml b/shared/uavobjectdefinition/flightbatterysettings.xml
index f8fd850ee..c6779d1b9 100644
--- a/shared/uavobjectdefinition/flightbatterysettings.xml
+++ b/shared/uavobjectdefinition/flightbatterysettings.xml
@@ -7,9 +7,7 @@
         <field name="Capacity" units="mAh"  type="uint32"  elements="1" defaultvalue="2200"/>
 
         <field name="CellVoltageThresholds" units="V"  type="float" elementnames="Warning, Alarm" defaultvalue="3.4,3.1"/>
-        <field name="SensorCalibrations" units="" type="float" elementnames="VoltageFactor, CurrentFactor" defaultvalue="1.0, 1.0"/>
-        <field name="VSensorOutImpedance" units="KOhm"  type="uint8"  elements="1" defaultvalue="0"/>
-        <field name="ISensorOutImpedance" units="KOhm"  type="uint8"  elements="1" defaultvalue="0"/>
+        <field name="SensorCalibrations" units="" type="float" elementnames="VoltageFactor, CurrentFactor, VoltageZero, CurrentZero" defaultvalue="1.0, 1.0, 0.0, 0.0"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>