mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_Sum.h"
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/*
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battery monitor that is the sum of other battery monitors after this one
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This can be used to combined other current/voltage sensors into a
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single backend
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*/
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extern const AP_HAL::HAL& hal;
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/// Constructor
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AP_BattMonitor_Sum::AP_BattMonitor_Sum(AP_BattMonitor &mon,
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AP_BattMonitor::BattMonitor_State &mon_state,
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AP_BattMonitor_Params ¶ms,
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uint8_t instance) :
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AP_BattMonitor_Backend(mon, mon_state, params),
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_instance(instance)
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{
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}
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// read - read the voltage and current
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void
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AP_BattMonitor_Sum::read()
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{
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float voltage_sum = 0;
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uint8_t voltage_count = 0;
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float current_sum = 0;
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uint8_t current_count = 0;
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for (uint8_t i=_instance+1; i<_mon.num_instances(); i++) {
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if (!_mon.healthy(i)) {
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continue;
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}
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voltage_sum += _mon.voltage(i);
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voltage_count++;
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if (_mon.has_current(i)) {
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current_sum += _mon.current_amps(i);
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current_count++;
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}
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}
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if (voltage_count > 0) {
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_state.voltage = voltage_sum / voltage_count;
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_state.last_time_micros = AP_HAL::micros();
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}
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if (current_count > 0) {
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_state.current_amps = current_sum;
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}
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_has_current = (current_count > 0);
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_state.healthy = (voltage_count > 0);
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}
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