1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-18 08:54:15 +01:00

Merge remote-tracking branch 'origin/andrecillo/OP-1299_Autodetect_nbcells_battery' into next

This commit is contained in:
Alessio Morale 2014-04-15 21:44:06 +02:00
commit f9aa020de4
3 changed files with 87 additions and 7 deletions

View File

@ -47,6 +47,7 @@
#include "openpilot.h"
#include "flightstatus.h"
#include "flightbatterystate.h"
#include "flightbatterysettings.h"
#include "hwsettings.h"
@ -69,6 +70,7 @@ static int8_t currentADCPin = -1; // ADC pin for current
// Private functions
static void onTimer(UAVObjEvent *ev);
static int8_t GetNbCells(const FlightBatterySettingsData *batterySettings, FlightBatteryStateData *flightBatteryData);
/**
* Initialise the module, called on startup
@ -113,6 +115,8 @@ int32_t BatteryInitialize(void)
FlightBatteryStateInitialize();
FlightBatterySettingsInitialize();
// FlightBatterySettingsConnectCallback(FlightBatterySettingsUpdatedCb);
static UAVObjEvent ev;
memset(&ev, 0, sizeof(UAVObjEvent));
@ -125,10 +129,11 @@ int32_t BatteryInitialize(void)
MODULE_INITCALL(BatteryInitialize, 0);
static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
{
static FlightBatteryStateData flightBatteryData;
static FlightBatterySettingsData batterySettings;
static FlightBatteryStateData flightBatteryData;
FlightBatterySettingsGet(&batterySettings);
FlightBatteryStateGet(&flightBatteryData);
const float dT = SAMPLE_PERIOD_MS / 1000.0f;
float energyRemaining;
@ -140,7 +145,11 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
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) {
// voltage available: get the number of cells if possible, desired and not armed
GetNbCells(&batterySettings, &flightBatteryData);
// ad a plausibility check: zero voltage => zero current
if (currentADCPin >= 0 && flightBatteryData.Voltage > 0.f) {
flightBatteryData.Current = (PIOS_ADC_PinGetVolt(currentADCPin) - batterySettings.SensorCalibrations.CurrentZero) * batterySettings.SensorCalibrations.CurrentFactor; // in Amps
if (flightBatteryData.Current > flightBatteryData.PeakCurrent) {
flightBatteryData.PeakCurrent = flightBatteryData.Current; // in Amps
@ -149,7 +158,11 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
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
// For safety reasons consider only positive currents in energy comsumption, i.e. no charging up.
// necesary when sensor are not perfectly calibrated
if (flightBatteryData.Current > 0) {
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f); // in mAh
}
// Apply a 2 second rise time low-pass filter to average the current
float alpha = 1.0f - dT / (dT + 2.0f);
@ -184,9 +197,9 @@ 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.CellVoltageThresholds.Alarm * batterySettings.NbCells) {
if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Alarm * flightBatteryData.NbCells) {
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
} else if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Warning * batterySettings.NbCells) {
} else if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Warning * flightBatteryData.NbCells) {
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
@ -196,6 +209,71 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
FlightBatteryStateSet(&flightBatteryData);
}
static int8_t GetNbCells(const FlightBatterySettingsData *batterySettings, FlightBatteryStateData *flightBatteryData)
{
// get flight status to check for armed
uint8_t armed = 0;
FlightStatusArmedGet(&armed);
// check only if not armed
if (armed == FLIGHTSTATUS_ARMED_ARMED) {
return -2;
}
// prescribed number of cells?
if (batterySettings->NbCells != 0) {
flightBatteryData->NbCells = batterySettings->NbCells;
flightBatteryData->NbCellsAutodetected = 0;
return -3;
}
// plausibility check
if (flightBatteryData->Voltage <= 0.5f) {
// cannot detect number of cells
flightBatteryData->NbCellsAutodetected = 0;
return -1;
}
float voltageMin = 0.f, voltageMax = 0.f;
// Cell type specific values
// TODO: could be implemented as constant arrays indexed by cellType
// or could be part of the UAVObject definition
switch (batterySettings->Type) {
case FLIGHTBATTERYSETTINGS_TYPE_LIPO:
case FLIGHTBATTERYSETTINGS_TYPE_LICO:
voltageMin = 3.6f;
voltageMax = 4.2f;
break;
case FLIGHTBATTERYSETTINGS_TYPE_A123:
voltageMin = 2.01f;
voltageMax = 3.59f;
break;
case FLIGHTBATTERYSETTINGS_TYPE_LIFESO4:
default:
flightBatteryData->NbCellsAutodetected = 0;
return -1;
}
// uniquely measurable under any condition iff n * voltageMax < (n+1) * voltageMin
// or n < voltageMin / (voltageMax-voltageMin)
// weaken condition by setting n <= voltageMin / (voltageMax-voltageMin) and
// checking for v <= voltageMin * voltageMax / (voltageMax-voltageMin)
if (flightBatteryData->Voltage > voltageMin * voltageMax / (voltageMax - voltageMin)) {
flightBatteryData->NbCellsAutodetected = 0;
return -1;
}
flightBatteryData->NbCells = (int8_t)(flightBatteryData->Voltage / voltageMin);
flightBatteryData->NbCellsAutodetected = 1;
return flightBatteryData->NbCells;
}
/**
* @}
*/

View File

@ -3,9 +3,8 @@
<description>Flight Battery configuration.</description>
<field name="Type" units="" type="enum" elements="1" options="LiPo,A123,LiCo,LiFeSO4,None" defaultvalue="LiPo"/>
<field name="NbCells" units="" type="uint8" elements="1" defaultvalue="3"/>
<field name="NbCells" units="" type="uint8" elements="1" defaultvalue="0"/>
<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, VoltageZero, CurrentZero" defaultvalue="1.0, 1.0, 0.0, 0.0"/>
<access gcs="readwrite" flight="readwrite"/>

View File

@ -8,6 +8,9 @@
<field name="AvgCurrent" units="A" type="float" elements="1" defaultvalue="0.0"/>
<field name="ConsumedEnergy" units="mAh" type="float" elements="1" defaultvalue="0.0"/>
<field name="EstimatedFlightTime" units="sec" type="float" elements="1" defaultvalue="0.0"/>
<field name="NbCells" units="" type="uint8" elements="1" defaultvalue="3"/>
<field name="NbCellsAutodetected" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>