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Code Issues Releases Activity

Improved battery module to fully support regeneration. Fixed bug in builtin battery module. Improved ADC routing names.

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This commit is contained in:
Laura Sebesta 2012-07-08 23:13:05 +02:00
parent 0a34b786a9
commit cfb8e72679
2 changed files with 29 additions and 15 deletions
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42
flight/Modules/Battery/battery.c
View File

@ -78,32 +78,39 @@ static void onTimer(UAVObjEvent* ev);
int32_t BatteryInitialize(void) int32_t BatteryInitialize(void)
{ {
#ifdef MODULE_BATTERY_BUILTIN #ifdef MODULE_BATTERY_BUILTIN
batteryEnabled = true; batteryEnabled = true;
#else #else
HwSettingsInitialize(); HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules); HwSettingsOptionalModulesGet(optionalModules);
HwSettingsADCRoutingGet(adcRouting);
//Determine if the battery sensors are routed to ADC pins if ((optionalModules[HWSETTINGS_OPTIONALMODULES_BATTERY] == HWSETTINGS_OPTIONALMODULES_ENABLED))
for (int i=0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adcRouting[i] == HWSETTINGS_ADCROUTING_VOLTAGE) {
voltageADCPin = i;
}
if (adcRouting[i] == HWSETTINGS_ADCROUTING_CURRENT) {
currentADCPin = i;
}
}
if ((optionalModules[HWSETTINGS_OPTIONALMODULES_BATTERY] == HWSETTINGS_OPTIONALMODULES_ENABLED) && (voltageADCPin >=0 || currentADCPin >=0))
batteryEnabled = true; batteryEnabled = true;
else else
batteryEnabled = false; batteryEnabled = false;
#endif #endif
uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingGet(adcRouting);
//Determine if the battery sensors are routed to ADC pins
for (int i=0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYVOLTAGE) {
voltageADCPin = i;
}
if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYCURRENT) {
currentADCPin = i;
}
}
//Don't enable module if no ADC pins are routed to the sensors
if (voltageADCPin <0 && currentADCPin <0)
batteryEnabled = false;
//Start module
if (batteryEnabled) { if (batteryEnabled) {
FlightBatteryStateInitialize(); FlightBatteryStateInitialize();
FlightBatterySettingsInitialize(); FlightBatterySettingsInitialize();
@ -133,6 +140,10 @@ static void onTimer(UAVObjEvent* ev)
if (voltageADCPin >=0) { if (voltageADCPin >=0) {
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(voltageADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(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
}
if (currentADCPin >=0) { if (currentADCPin >=0) {
flightBatteryData.Current = ((float)PIOS_ADC_PinGet(currentADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps flightBatteryData.Current = ((float)PIOS_ADC_PinGet(currentADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps
if (flightBatteryData.Current > flightBatteryData.PeakCurrent) if (flightBatteryData.Current > flightBatteryData.PeakCurrent)
@ -158,7 +169,10 @@ static void onTimer(UAVObjEvent* ev)
// if (flightBatteryData.ConsumedEnergy<0) flightBatteryData.ConsumedEnergy=0.0f; // if (flightBatteryData.ConsumedEnergy<0) flightBatteryData.ConsumedEnergy=0.0f;
energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh
flightBatteryData.EstimatedFlightTime = ((energyRemaining / (flightBatteryData.AvgCurrent*1000.0f))*3600.0f);//in Sec if (flightBatteryData.AvgCurrent > 0)
flightBatteryData.EstimatedFlightTime = (energyRemaining / (flightBatteryData.AvgCurrent*1000.0f))*3600.0f;//in Sec
else
flightBatteryData.EstimatedFlightTime = 9999;
//generate alarms where needed... //generate alarms where needed...
if ((flightBatteryData.Voltage<=0) && (flightBatteryData.Current<=0)) if ((flightBatteryData.Voltage<=0) && (flightBatteryData.Current<=0))

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -19,7 +19,7 @@
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/> <field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,VtolPathFollower,FixedWingPathFollower,Battery,Overo" options="Disabled,Enabled" defaultvalue="Disabled"/> <field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,VtolPathFollower,FixedWingPathFollower,Battery,Overo" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="ADCRouting" units="" type="enum" elementnames="ADC0,ADC1,ADC2,ADC3" options="Disabled,Voltage,Current,Airspeed,Generic" defaultvalue="Disabled"/> <field name="ADCRouting" units="" type="enum" elementnames="ADC0,ADC1,ADC2,ADC3" options="Disabled,BatteryVoltage,BatteryCurrent,AnalogAirspeed,Generic" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/> <field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>