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AP_BattMonitor: add option minimum volt option

This commit is contained in:
Bob Long 2024-09-25 12:11:37 +10:00 committed by Andrew Tridgell
parent 52169f25da
commit 11014cae06
3 changed files with 28 additions and 6 deletions
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2
libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
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@ -154,7 +154,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
// @Param: OPTIONS // @Param: OPTIONS
// @DisplayName: Battery monitor options // @DisplayName: Battery monitor options
// @Description: This sets options to change the behaviour of the battery monitor // @Description: This sets options to change the behaviour of the battery monitor
// @Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node // @Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average
// @User: Advanced // @User: Advanced
AP_GROUPINFO("OPTIONS", 21, AP_BattMonitor_Params, _options, 0), AP_GROUPINFO("OPTIONS", 21, AP_BattMonitor_Params, _options, 0),
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH

1
libraries/AP_BattMonitor/AP_BattMonitor_Params.h
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@ -27,6 +27,7 @@ public:
GCS_Resting_Voltage = (1U<<6), // send resistance resting voltage to GCS GCS_Resting_Voltage = (1U<<6), // send resistance resting voltage to GCS
AllowSplitAuxInfo = (1U<<7), // allow different node to provide aux info for DroneCAN AllowSplitAuxInfo = (1U<<7), // allow different node to provide aux info for DroneCAN
InternalUseOnly = (1U<<8), // for use internally to ArduPilot, not to be (eg.) sent via MAVLink BATTERY_STATUS InternalUseOnly = (1U<<8), // for use internally to ArduPilot, not to be (eg.) sent via MAVLink BATTERY_STATUS
Minimum_Voltage = (1U<<9), // sum monitor measures minimum voltage rather than average
}; };
BattMonitor_LowVoltage_Source failsafe_voltage_source(void) const { return (enum BattMonitor_LowVoltage_Source)_failsafe_voltage_source.get(); } BattMonitor_LowVoltage_Source failsafe_voltage_source(void) const { return (enum BattMonitor_LowVoltage_Source)_failsafe_voltage_source.get(); }

31
libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp
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@ -50,6 +50,7 @@ void
AP_BattMonitor_Sum::read() AP_BattMonitor_Sum::read()
{ {
float voltage_sum = 0; float voltage_sum = 0;
float voltage_min = 0;
uint8_t voltage_count = 0; uint8_t voltage_count = 0;
float current_sum = 0; float current_sum = 0;
uint8_t current_count = 0; uint8_t current_count = 0;
@ -57,6 +58,9 @@ AP_BattMonitor_Sum::read()
float temperature_sum = 0.0; float temperature_sum = 0.0;
uint8_t temperature_count = 0; uint8_t temperature_count = 0;
float consumed_mah_sum = 0;
float consumed_wh_sum = 0;
for (uint8_t i=0; i<_mon.num_instances(); i++) { for (uint8_t i=0; i<_mon.num_instances(); i++) {
if (i == _instance) { if (i == _instance) {
// never include self // never include self
@ -73,7 +77,11 @@ AP_BattMonitor_Sum::read()
if (!_mon.healthy(i)) { if (!_mon.healthy(i)) {
continue; continue;
} }
voltage_sum += _mon.voltage(i); const float voltage = _mon.voltage(i);
if (voltage_count == 0 || voltage < voltage_min) {
voltage_min = voltage;
}
voltage_sum += voltage;
voltage_count++; voltage_count++;
float current; float current;
if (_mon.current_amps(current, i)) { if (_mon.current_amps(current, i)) {
@ -86,23 +94,36 @@ AP_BattMonitor_Sum::read()
temperature_sum += temperature; temperature_sum += temperature;
temperature_count++; temperature_count++;
} }
float consumed_mah;
if (_mon.consumed_mah(consumed_mah, i)) {
consumed_mah_sum += consumed_mah;
}
float consumed_wh;
if (_mon.consumed_wh(consumed_wh, i)) {
consumed_wh_sum += consumed_wh;
}
} }
const uint32_t tnow_us = AP_HAL::micros(); const uint32_t tnow_us = AP_HAL::micros();
const uint32_t dt_us = tnow_us - _state.last_time_micros;
if (voltage_count > 0) { if (voltage_count > 0) {
_state.voltage = voltage_sum / voltage_count; if (option_is_set(AP_BattMonitor_Params::Options::Minimum_Voltage)) {
_state.voltage = voltage_min;
} else {
_state.voltage = voltage_sum / voltage_count;
}
} }
if (current_count > 0) { if (current_count > 0) {
_state.current_amps = current_sum; _state.current_amps = current_sum;
_state.consumed_mah = consumed_mah_sum;
_state.consumed_wh = consumed_wh_sum;
} }
if (temperature_count > 0) { if (temperature_count > 0) {
_state.temperature = temperature_sum / temperature_count; _state.temperature = temperature_sum / temperature_count;
_state.temperature_time = AP_HAL::millis(); _state.temperature_time = AP_HAL::millis();
} }
update_consumed(_state, dt_us);
_has_current = (current_count > 0); _has_current = (current_count > 0);
_has_temperature = (temperature_count > 0); _has_temperature = (temperature_count > 0);
_state.healthy = (voltage_count > 0); _state.healthy = (voltage_count > 0);