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Merge remote-tracking branch 'origin/andrecillo/OP-1299_Autodetect_nbcells_battery' into next
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commit
f9aa020de4
@ -47,6 +47,7 @@
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#include "openpilot.h"
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#include "flightstatus.h"
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#include "flightbatterystate.h"
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#include "flightbatterysettings.h"
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#include "hwsettings.h"
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@ -69,6 +70,7 @@ static int8_t currentADCPin = -1; // ADC pin for current
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// Private functions
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static void onTimer(UAVObjEvent *ev);
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static int8_t GetNbCells(const FlightBatterySettingsData *batterySettings, FlightBatteryStateData *flightBatteryData);
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/**
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* Initialise the module, called on startup
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@ -113,6 +115,8 @@ int32_t BatteryInitialize(void)
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FlightBatteryStateInitialize();
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FlightBatterySettingsInitialize();
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// FlightBatterySettingsConnectCallback(FlightBatterySettingsUpdatedCb);
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static UAVObjEvent ev;
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memset(&ev, 0, sizeof(UAVObjEvent));
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@ -125,10 +129,11 @@ int32_t BatteryInitialize(void)
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MODULE_INITCALL(BatteryInitialize, 0);
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static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
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{
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static FlightBatteryStateData flightBatteryData;
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static FlightBatterySettingsData batterySettings;
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static FlightBatteryStateData flightBatteryData;
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FlightBatterySettingsGet(&batterySettings);
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FlightBatteryStateGet(&flightBatteryData);
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const float dT = SAMPLE_PERIOD_MS / 1000.0f;
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float energyRemaining;
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@ -140,7 +145,11 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
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flightBatteryData.Voltage = 0; // Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
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}
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if (currentADCPin >= 0) {
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// voltage available: get the number of cells if possible, desired and not armed
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GetNbCells(&batterySettings, &flightBatteryData);
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// ad a plausibility check: zero voltage => zero current
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if (currentADCPin >= 0 && flightBatteryData.Voltage > 0.f) {
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flightBatteryData.Current = (PIOS_ADC_PinGetVolt(currentADCPin) - batterySettings.SensorCalibrations.CurrentZero) * batterySettings.SensorCalibrations.CurrentFactor; // in Amps
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if (flightBatteryData.Current > flightBatteryData.PeakCurrent) {
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flightBatteryData.PeakCurrent = flightBatteryData.Current; // in Amps
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@ -149,7 +158,11 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
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flightBatteryData.Current = -0; // Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
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}
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flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f); // in mAh
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// For safety reasons consider only positive currents in energy comsumption, i.e. no charging up.
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// necesary when sensor are not perfectly calibrated
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if (flightBatteryData.Current > 0) {
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flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f); // in mAh
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}
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// Apply a 2 second rise time low-pass filter to average the current
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float alpha = 1.0f - dT / (dT + 2.0f);
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@ -184,9 +197,9 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
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// FIXME: should make the battery voltage detection dependent on battery type.
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/*Not so sure. Some users will want to run their batteries harder than others, so it should be the user's choice. [KDS]*/
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if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Alarm * batterySettings.NbCells) {
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if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Alarm * flightBatteryData.NbCells) {
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AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
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} else if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Warning * batterySettings.NbCells) {
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} else if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Warning * flightBatteryData.NbCells) {
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AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
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@ -196,6 +209,71 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
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FlightBatteryStateSet(&flightBatteryData);
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}
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static int8_t GetNbCells(const FlightBatterySettingsData *batterySettings, FlightBatteryStateData *flightBatteryData)
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{
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// get flight status to check for armed
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uint8_t armed = 0;
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FlightStatusArmedGet(&armed);
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// check only if not armed
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if (armed == FLIGHTSTATUS_ARMED_ARMED) {
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return -2;
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}
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// prescribed number of cells?
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if (batterySettings->NbCells != 0) {
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flightBatteryData->NbCells = batterySettings->NbCells;
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flightBatteryData->NbCellsAutodetected = 0;
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return -3;
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}
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// plausibility check
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if (flightBatteryData->Voltage <= 0.5f) {
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// cannot detect number of cells
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flightBatteryData->NbCellsAutodetected = 0;
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return -1;
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}
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float voltageMin = 0.f, voltageMax = 0.f;
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// Cell type specific values
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// TODO: could be implemented as constant arrays indexed by cellType
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// or could be part of the UAVObject definition
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switch (batterySettings->Type) {
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case FLIGHTBATTERYSETTINGS_TYPE_LIPO:
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case FLIGHTBATTERYSETTINGS_TYPE_LICO:
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voltageMin = 3.6f;
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voltageMax = 4.2f;
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break;
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case FLIGHTBATTERYSETTINGS_TYPE_A123:
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voltageMin = 2.01f;
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voltageMax = 3.59f;
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break;
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case FLIGHTBATTERYSETTINGS_TYPE_LIFESO4:
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default:
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flightBatteryData->NbCellsAutodetected = 0;
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return -1;
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}
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// uniquely measurable under any condition iff n * voltageMax < (n+1) * voltageMin
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// or n < voltageMin / (voltageMax-voltageMin)
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// weaken condition by setting n <= voltageMin / (voltageMax-voltageMin) and
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// checking for v <= voltageMin * voltageMax / (voltageMax-voltageMin)
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if (flightBatteryData->Voltage > voltageMin * voltageMax / (voltageMax - voltageMin)) {
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flightBatteryData->NbCellsAutodetected = 0;
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return -1;
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}
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flightBatteryData->NbCells = (int8_t)(flightBatteryData->Voltage / voltageMin);
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flightBatteryData->NbCellsAutodetected = 1;
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return flightBatteryData->NbCells;
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}
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/**
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* @}
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*/
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@ -3,9 +3,8 @@
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<description>Flight Battery configuration.</description>
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<field name="Type" units="" type="enum" elements="1" options="LiPo,A123,LiCo,LiFeSO4,None" defaultvalue="LiPo"/>
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<field name="NbCells" units="" type="uint8" elements="1" defaultvalue="3"/>
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<field name="NbCells" units="" type="uint8" elements="1" defaultvalue="0"/>
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<field name="Capacity" units="mAh" type="uint32" elements="1" defaultvalue="2200"/>
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<field name="CellVoltageThresholds" units="V" type="float" elementnames="Warning, Alarm" defaultvalue="3.4,3.1"/>
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<field name="SensorCalibrations" units="" type="float" elementnames="VoltageFactor, CurrentFactor, VoltageZero, CurrentZero" defaultvalue="1.0, 1.0, 0.0, 0.0"/>
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<access gcs="readwrite" flight="readwrite"/>
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@ -8,6 +8,9 @@
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<field name="AvgCurrent" units="A" type="float" elements="1" defaultvalue="0.0"/>
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<field name="ConsumedEnergy" units="mAh" type="float" elements="1" defaultvalue="0.0"/>
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<field name="EstimatedFlightTime" units="sec" type="float" elements="1" defaultvalue="0.0"/>
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<field name="NbCells" units="" type="uint8" elements="1" defaultvalue="3"/>
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<field name="NbCellsAutodetected" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False"/>
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<access gcs="readonly" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="1000"/>
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