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AP_BattMonitor: added VLT_OFFSET for analog 

useful for diode bias in voltage monitors

thanks to Charles from ASW and Jeff Wurzbach
This commit is contained in:
Andrew Tridgell 2021-11-12 17:49:27 +11:00
parent bc4abea7d5
commit 42412b2a60
2 changed files with 9 additions and 1 deletions
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9
libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
View File

@ -43,6 +43,13 @@ const AP_Param::GroupInfo AP_BattMonitor_Analog::var_info[] = {
// @User: Standard
AP_GROUPINFO("AMP_OFFSET", 5, AP_BattMonitor_Analog, _curr_amp_offset, AP_BATT_CURR_AMP_OFFSET_DEFAULT),
// @Param: VLT_OFFSET
// @DisplayName: Volage offset
// @Description: Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
// @Units: V
// @User: Advanced
AP_GROUPINFO("VLT_OFFSET", 6, AP_BattMonitor_Analog, _volt_offset, 0),
// Param indexes must be less than 10 to avoid conflict with other battery monitor param tables loaded by pointer
AP_GROUPEND
@ -70,7 +77,7 @@ AP_BattMonitor_Analog::read()
_state.healthy = _volt_pin_analog_source->set_pin(_volt_pin);
// get voltage
_state.voltage = _volt_pin_analog_source->voltage_average() * _volt_multiplier;
_state.voltage = (_volt_pin_analog_source->voltage_average() - _volt_offset) * _volt_multiplier;
// read current
if (has_current()) {

1
libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
View File

@ -122,6 +122,7 @@ protected:
AP_Float _volt_multiplier; /// voltage on volt pin multiplied by this to calculate battery voltage
AP_Float _curr_amp_per_volt; /// voltage on current pin multiplied by this to calculate current in amps
AP_Float _curr_amp_offset; /// offset voltage that is subtracted from current pin before conversion to amps
AP_Float _volt_offset; /// offset voltage that is subtracted from voltage pin before conversion
AP_Int8 _volt_pin; /// board pin used to measure battery voltage
AP_Int8 _curr_pin; /// board pin used to measure battery current
};