ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_Bebop.h

54 lines
1.8 KiB
C
Raw Normal View History

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "AP_BattMonitor_Backend.h"
class AP_BattMonitor_Bebop :public AP_BattMonitor_Backend
{
public:
// constructor. This incorporates initialisation as well.
AP_BattMonitor_Bebop(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params):
AP_BattMonitor_Backend(mon, mon_state, params),
_prev_vbat_raw(0.0f),
_prev_vbat(0.0f),
_battery_voltage_max(0.0f)
{};
virtual ~AP_BattMonitor_Bebop(void) {};
// initialise
void init() override;
// read the latest battery voltage
void read() override;
// bebop provides current info
bool has_current() const override { return true; };
// don't allow reset of remaining capacity for bebop battery
bool reset_remaining(float percentage) override { return false; }
private:
float _prev_vbat_raw;
float _prev_vbat;
float _battery_voltage_max;
float _compute_compensation(const uint16_t *rpm, float vbat_raw);
float _filter_voltage(float vbat_raw);
float _compute_battery_percentage(float vbat);
};