mirror of https://github.com/ArduPilot/ardupilot
AC sync battery code with arduplane
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@ -94,7 +94,10 @@ public:
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// 140: Sensor parameters
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// 140: Sensor parameters
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//
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//
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k_param_IMU_calibration = 140,
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k_param_IMU_calibration = 140,
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k_param_battery_monitoring,
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k_param_battery_monitoring,
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k_param_volt_div_ratio,
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k_param_curr_amp_per_volt,
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k_param_input_voltage,
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k_param_pack_capacity,
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k_param_pack_capacity,
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k_param_compass_enabled,
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k_param_compass_enabled,
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k_param_compass,
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k_param_compass,
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@ -102,11 +105,10 @@ public:
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k_param_frame_orientation,
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k_param_frame_orientation,
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k_param_top_bottom_ratio,
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k_param_top_bottom_ratio,
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k_param_optflow_enabled,
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k_param_optflow_enabled,
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k_param_input_voltage,
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k_param_low_voltage,
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k_param_low_voltage,
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k_param_ch7_option,
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k_param_ch7_option,
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k_param_sonar_type, // 153
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k_param_sonar_type,
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k_param_super_simple,
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k_param_super_simple, //155
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//
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//
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// 160: Navigation parameters
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// 160: Navigation parameters
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@ -198,11 +200,13 @@ public:
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AP_Int16 RTL_altitude;
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AP_Int16 RTL_altitude;
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AP_Int8 sonar_enabled;
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AP_Int8 sonar_enabled;
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AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range)
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AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range)
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
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AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
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AP_Float volt_div_ratio;
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AP_Float curr_amp_per_volt;
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AP_Float input_voltage;
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int16 pack_capacity; // Battery pack capacity less reserve
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AP_Int8 compass_enabled;
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AP_Int8 compass_enabled;
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AP_Int8 optflow_enabled;
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AP_Int8 optflow_enabled;
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AP_Float input_voltage;
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AP_Float low_voltage;
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AP_Float low_voltage;
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AP_Int8 super_simple;
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AP_Int8 super_simple;
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@ -319,11 +323,13 @@ public:
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RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
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RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
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sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")),
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sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")),
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sonar_type (AP_RANGEFINDER_MAXSONARXL, k_param_sonar_type, PSTR("SONAR_TYPE")),
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sonar_type (AP_RANGEFINDER_MAXSONARXL, k_param_sonar_type, PSTR("SONAR_TYPE")),
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battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
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battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
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volt_div_ratio (VOLT_DIV_RATIO, k_param_volt_div_ratio, PSTR("VOLT_DIVIDER")),
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curr_amp_per_volt (CURR_AMP_PER_VOLT, k_param_curr_amp_per_volt, PSTR("AMP_PER_VOLT")),
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input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("INPUT_VOLTS")),
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pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
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pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
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compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")),
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compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")),
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optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")),
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optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")),
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input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("IN_VOLT")),
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low_voltage (LOW_VOLTAGE, k_param_low_voltage, PSTR("LOW_VOLT")),
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low_voltage (LOW_VOLTAGE, k_param_low_voltage, PSTR("LOW_VOLT")),
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super_simple (SUPER_SIMPLE, k_param_super_simple, PSTR("SUPER_SIMPLE")),
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super_simple (SUPER_SIMPLE, k_param_super_simple, PSTR("SUPER_SIMPLE")),
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@ -291,9 +291,9 @@ enum gcs_severity {
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// Climb rate calculations
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// Climb rate calculations
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#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
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#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
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#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
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#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
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#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1023.0))*VOLT_DIV_RATIO
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#define CURRENT_AMPS(x) ((x*(g.input_voltage/1023.0))-CURR_AMPS_OFFSET)*CURR_AMP_PER_VOLT
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//#define BARO_FILTER_SIZE 8
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//#define BARO_FILTER_SIZE 8
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/* ************************************************************** */
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/* ************************************************************** */
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@ -106,12 +106,11 @@ static void read_battery(void)
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return;
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return;
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}
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}
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
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battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
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battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
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}
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if(g.battery_monitoring == 4) {
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if(g.battery_monitoring == 4) {
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current_amps1 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin
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current_amps1 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin
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current_total1 += current_amps1 * 0.02778; // called at 100ms on average, .0002778 is 1/3600 (conversion to hours)
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current_total1 += current_amps1 * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
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}
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}
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#if BATTERY_EVENT == 1
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#if BATTERY_EVENT == 1
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