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Code Issues Releases Activity

OP-995: Cleanup of Battery Module

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This commit is contained in:
Alessio Morale 2013-05-27 02:12:39 +02:00
parent bdd80a63c9
commit cea6496866
2 changed files with 11 additions and 18 deletions
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22
flight/modules/Battery/battery.c
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@ -123,31 +123,30 @@ int32_t BatteryInitialize(void)
}
MODULE_INITCALL(BatteryInitialize, 0);
#define HAS_SENSOR(x) batterySettings.SensorType[x] == FLIGHTBATTERYSETTINGS_SENSORTYPE_ENABLED
static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
{
static FlightBatteryStateData flightBatteryData;
FlightBatterySettingsData batterySettings;
static FlightBatterySettingsData batterySettings;
FlightBatterySettingsGet(&batterySettings);
static float dT = SAMPLE_PERIOD_MS / 1000.0f;
const float dT = SAMPLE_PERIOD_MS / 1000.0f;
float energyRemaining;
// calculate the battery parameters
if (voltageADCPin >= 0) {
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(voltageADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; // in Volts
flightBatteryData.Voltage = PIOS_ADC_PinGetVolt(voltageADCPin) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; // in Volts
} else {
flightBatteryData.Voltage = 1234; // Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
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 = ((float)PIOS_ADC_PinGet(currentADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; // in Amps
flightBatteryData.Current = PIOS_ADC_PinGetVolt(currentADCPin) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; // in Amps
if (flightBatteryData.Current > flightBatteryData.PeakCurrent) {
flightBatteryData.PeakCurrent = flightBatteryData.Current; // in Amps
}
} else { // If there's no current measurement, we still need to assign one. Make it negative, so it can never trigger an alarm
flightBatteryData.Current = -0.1234f; // Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
flightBatteryData.Current = -0; // Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
}
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f); // in mAh
@ -160,11 +159,6 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
In short, is there any likelihood of measuring negative current? If it's a bad current reading we want to check, then
it makes sense to saturate at max and min values, because a misreading could as easily be very large, as negative. The simple
sign check doesn't catch this.*/
////sanity checks
// if (flightBatteryData.AvgCurrent<0) flightBatteryData.AvgCurrent=0.0f;
// if (flightBatteryData.PeakCurrent<0) flightBatteryData.PeakCurrent=0.0f;
// if (flightBatteryData.ConsumedEnergy<0) flightBatteryData.ConsumedEnergy=0.0f;
energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh
if (flightBatteryData.AvgCurrent > 0) {
flightBatteryData.EstimatedFlightTime = (energyRemaining / (flightBatteryData.AvgCurrent * 1000.0f)) * 3600.0f; // in Sec
@ -190,9 +184,9 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
// FIXME: should make the battery voltage detection dependent on battery type.
/*Not so sure. Some users will want to run their batteries harder than others, so it should be the user's choice. [KDS]*/
if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_ALARM]) {
if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds[FLIGHTBATTERYSETTINGS_CELLVOLTAGETHRESHOLDS_ALARM] * batterySettings.NbCells) {
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
} else if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_WARNING]) {
} else if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds[FLIGHTBATTERYSETTINGS_CELLVOLTAGETHRESHOLDS_WARNING] * batterySettings.NbCells) {
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);

7
shared/uavobjectdefinition/flightbatterysettings.xml
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@ -6,11 +6,10 @@
<field name="NbCells" units="" type="uint8" elements="1" defaultvalue="3"/>
<field name="Capacity" units="mAh" type="uint32" elements="1" defaultvalue="2200"/>
<field name="VoltageThresholds" units="V" type="float" elementnames="Warning, Alarm" defaultvalue="9.8, 9.2"/>
<field name="SensorType" units="" type="enum" elementnames="BatteryCurrent,BatteryVoltage" options="Disabled,Enabled" defaultvalue="Enabled,Enabled"/>
<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"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>