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Code Issues Releases Activity

OP-84

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Battery module for Power Sensor version 2
made a few variable declarations static so things work again after changes to make this module not run in it's own thread.

Fixed the energy consumed calcs to scale correctly.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2870 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
andrew 2011-02-24 05:05:17 +00:00 committed by andrew
parent 463403ee82
commit 84c26f8905
1 changed files with 8 additions and 5 deletions
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13
flight/Modules/Battery/battery.c
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@ -54,7 +54,7 @@
// Configuration
//
#define SAMPLE_PERIOD_MS 500
#define POWER_SENSOR_VERSION 1
#define POWER_SENSOR_VERSION 2
//#define ENABLE_DEBUG_MSG
@ -91,13 +91,15 @@ static void onTimer(UAVObjEvent* ev)
static portTickType lastSysTime;
static bool firstRun = true;
FlightBatteryStateData flightBatteryData;
static FlightBatteryStateData flightBatteryData;
if (firstRun) {
#ifdef ENABLE_DEBUG_MSG
PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
#endif
lastSysTime = xTaskGetTickCount();
//FlightBatteryStateGet(&flightBatteryData);
firstRun = false;
}
@ -128,15 +130,15 @@ static void onTimer(UAVObjEvent* ev)
#if (POWER_SENSOR_VERSION == 2)
portTickType thisSysTime;
BatterySettingsData batterySettings;
float dT = SAMPLE_PERIOD_MS / 1000;
static float dT = SAMPLE_PERIOD_MS / 1000;
float Bob;
float energyRemaining;
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / (portTICK_RATE_MS / 1000.0f);
lastSysTime = thisSysTime;
dT = (float)(thisSysTime - lastSysTime) / (float)(portTICK_RATE_MS * 1000.0f);
//lastSysTime = thisSysTime;
BatterySettingsGet(&batterySettings);
@ -174,6 +176,7 @@ Bob =dT; // FIXME: something funky happens if I don't do this... Andrew
else if ((flightBatteryData.Voltage < batterySettings.BatteryVoltage * 0.85)||(flightBatteryData.Current > batterySettings.BatteryCapacity * 0.95))AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
else AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
}
lastSysTime = thisSysTime;
FlightBatteryStateSet(&flightBatteryData);
#endif