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AC sync battery code with arduplane

This commit is contained in:
Michael Oborne 2012-01-21 06:29:09 +08:00
parent 4eb8e8b172
commit 3b93418d67
3 changed files with 20 additions and 15 deletions
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22
ArduCopter/Parameters.h
View File

@ -94,7 +94,10 @@ public:
// 140: Sensor parameters // 140: Sensor parameters
// //
k_param_IMU_calibration = 140, k_param_IMU_calibration = 140,
k_param_battery_monitoring, k_param_battery_monitoring,
k_param_volt_div_ratio,
k_param_curr_amp_per_volt,
k_param_input_voltage,
k_param_pack_capacity, k_param_pack_capacity,
k_param_compass_enabled, k_param_compass_enabled,
k_param_compass, k_param_compass,
@ -102,11 +105,10 @@ public:
k_param_frame_orientation, k_param_frame_orientation,
k_param_top_bottom_ratio, k_param_top_bottom_ratio,
k_param_optflow_enabled, k_param_optflow_enabled,
k_param_input_voltage,
k_param_low_voltage, k_param_low_voltage,
k_param_ch7_option, k_param_ch7_option,
k_param_sonar_type, // 153 k_param_sonar_type,
k_param_super_simple, k_param_super_simple, //155
// //
// 160: Navigation parameters // 160: Navigation parameters
@ -198,11 +200,13 @@ public:
AP_Int16 RTL_altitude; AP_Int16 RTL_altitude;
AP_Int8 sonar_enabled; AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range) AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range)
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Float input_voltage;
AP_Int16 pack_capacity; // Battery pack capacity less reserve AP_Int16 pack_capacity; // Battery pack capacity less reserve
AP_Int8 compass_enabled; AP_Int8 compass_enabled;
AP_Int8 optflow_enabled; AP_Int8 optflow_enabled;
AP_Float input_voltage;
AP_Float low_voltage; AP_Float low_voltage;
AP_Int8 super_simple; AP_Int8 super_simple;
@ -319,11 +323,13 @@ public:
RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")), RTL_altitude (ALT_HOLD_HOME * 100, k_param_RTL_altitude, PSTR("ALT_HOLD_RTL")),
sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")), sonar_enabled (DISABLED, k_param_sonar, PSTR("SONAR_ENABLE")),
sonar_type (AP_RANGEFINDER_MAXSONARXL, k_param_sonar_type, PSTR("SONAR_TYPE")), sonar_type (AP_RANGEFINDER_MAXSONARXL, k_param_sonar_type, PSTR("SONAR_TYPE")),
battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")), battery_monitoring (DISABLED, k_param_battery_monitoring, PSTR("BATT_MONITOR")),
volt_div_ratio (VOLT_DIV_RATIO, k_param_volt_div_ratio, PSTR("VOLT_DIVIDER")),
curr_amp_per_volt (CURR_AMP_PER_VOLT, k_param_curr_amp_per_volt, PSTR("AMP_PER_VOLT")),
input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("INPUT_VOLTS")),
pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")), pack_capacity (HIGH_DISCHARGE, k_param_pack_capacity, PSTR("BATT_CAPACITY")),
compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")), compass_enabled (MAGNETOMETER, k_param_compass_enabled, PSTR("MAG_ENABLE")),
optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")), optflow_enabled (OPTFLOW, k_param_optflow_enabled, PSTR("FLOW_ENABLE")),
input_voltage (INPUT_VOLTAGE, k_param_input_voltage, PSTR("IN_VOLT")),
low_voltage (LOW_VOLTAGE, k_param_low_voltage, PSTR("LOW_VOLT")), low_voltage (LOW_VOLTAGE, k_param_low_voltage, PSTR("LOW_VOLT")),
super_simple (SUPER_SIMPLE, k_param_super_simple, PSTR("SUPER_SIMPLE")), super_simple (SUPER_SIMPLE, k_param_super_simple, PSTR("SUPER_SIMPLE")),

4
ArduCopter/defines.h
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@ -291,9 +291,9 @@ enum gcs_severity {
// Climb rate calculations // Climb rate calculations
#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from #define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to regress a climb rate from
#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1023.0))*VOLT_DIV_RATIO
#define CURRENT_AMPS(x) ((x*(g.input_voltage/1023.0))-CURR_AMPS_OFFSET)*CURR_AMP_PER_VOLT
//#define BARO_FILTER_SIZE 8 //#define BARO_FILTER_SIZE 8
/* ************************************************************** */ /* ************************************************************** */

9
ArduCopter/sensors.pde
View File

@ -105,13 +105,12 @@ static void read_battery(void)
battery_voltage1 = 0; battery_voltage1 = 0;
return; return;
} }
if(g.battery_monitoring == 3 || g.battery_monitoring == 4) { if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9; battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
}
if(g.battery_monitoring == 4) { if(g.battery_monitoring == 4) {
current_amps1 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin current_amps1 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin
current_total1 += current_amps1 * 0.02778; // called at 100ms on average, .0002778 is 1/3600 (conversion to hours) current_total1 += current_amps1 * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
} }
#if BATTERY_EVENT == 1 #if BATTERY_EVENT == 1