Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_BattMonitor: refactor Option param usage

Browse Source
This commit is contained in:
Tom Pittenger 2023-02-20 19:27:07 -08:00 committed by Tom Pittenger
parent 4c6648fada
commit 61b7f6ed74
4 changed files with 11 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_BattMonitor/AP_BattMonitor.cpp
View File

@ -506,7 +506,7 @@ float AP_BattMonitor::voltage_resting_estimate(uint8_t instance) const
/// voltage - returns battery voltage in volts for GCS, may be resting voltage if option enabled /// voltage - returns battery voltage in volts for GCS, may be resting voltage if option enabled
float AP_BattMonitor::gcs_voltage(uint8_t instance) const float AP_BattMonitor::gcs_voltage(uint8_t instance) const
{ {
if (_params[instance].option_is_set(AP_BattMonitor_Params::Options::GCS_Resting_Voltage)) { if (drivers[instance]->option_is_set(AP_BattMonitor_Params::Options::GCS_Resting_Voltage)) {
return voltage_resting_estimate(instance); return voltage_resting_estimate(instance);
} }
if (instance < _num_instances) { if (instance < _num_instances) {

5
libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
View File

@ -82,6 +82,11 @@ public:
// dt_us: time between samples (micro-seconds) // dt_us: time between samples (micro-seconds)
static float calculate_mah(float amps, float dt_us) { return (float) (amps * dt_us * AUS_TO_MAH); } static float calculate_mah(float amps, float dt_us) { return (float) (amps * dt_us * AUS_TO_MAH); }
// check if a option is set
bool option_is_set(const AP_BattMonitor_Params::Options option) const {
return (uint16_t(_params._options.get()) & uint16_t(option)) != 0;
}
protected: protected:
AP_BattMonitor &_mon; // reference to front-end AP_BattMonitor &_mon; // reference to front-end
AP_BattMonitor::BattMonitor_State &_state; // reference to this instances state (held in the front-end) AP_BattMonitor::BattMonitor_State &_state; // reference to this instances state (held in the front-end)

5
libraries/AP_BattMonitor/AP_BattMonitor_Params.h
View File

@ -26,11 +26,6 @@ public:
GCS_Resting_Voltage = (1U<<6), // send resistance resting voltage to GCS GCS_Resting_Voltage = (1U<<6), // send resistance resting voltage to GCS
}; };
// check if a option is set
bool option_is_set(const Options option) const {
return (uint16_t(_options.get()) & uint16_t(option)) != 0;
}
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(); }
AP_Int32 _pack_capacity; /// battery pack capacity less reserve in mAh AP_Int32 _pack_capacity; /// battery pack capacity less reserve in mAh

10
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
View File

@ -202,7 +202,7 @@ void AP_BattMonitor_UAVCAN::handle_battery_info_aux(const BattInfoAuxCb &cb)
void AP_BattMonitor_UAVCAN::handle_mppt_stream(const MpptStreamCb &cb) void AP_BattMonitor_UAVCAN::handle_mppt_stream(const MpptStreamCb &cb)
{ {
const bool use_input_value = _params.option_is_set(AP_BattMonitor_Params::Options::MPPT_Use_Input_Value); const bool use_input_value = option_is_set(AP_BattMonitor_Params::Options::MPPT_Use_Input_Value);
const float voltage = use_input_value ? cb.msg->input_voltage : cb.msg->output_voltage; const float voltage = use_input_value ? cb.msg->input_voltage : cb.msg->output_voltage;
const float current = use_input_value ? cb.msg->input_current : cb.msg->output_current; const float current = use_input_value ? cb.msg->input_current : cb.msg->output_current;
@ -220,9 +220,9 @@ void AP_BattMonitor_UAVCAN::handle_mppt_stream(const MpptStreamCb &cb)
_mppt.is_detected = true; _mppt.is_detected = true;
// Boot/Power-up event // Boot/Power-up event
if (_params.option_is_set(AP_BattMonitor_Params::Options::MPPT_Power_On_At_Boot)) { if (option_is_set(AP_BattMonitor_Params::Options::MPPT_Power_On_At_Boot)) {
mppt_set_powered_state(true); mppt_set_powered_state(true);
} else if (_params.option_is_set(AP_BattMonitor_Params::Options::MPPT_Power_Off_At_Boot)) { } else if (option_is_set(AP_BattMonitor_Params::Options::MPPT_Power_Off_At_Boot)) {
mppt_set_powered_state(false); mppt_set_powered_state(false);
} }
} }
@ -335,10 +335,10 @@ void AP_BattMonitor_UAVCAN::mppt_check_powered_state()
// check if vehicle armed state has changed // check if vehicle armed state has changed
const bool vehicle_armed = hal.util->get_soft_armed(); const bool vehicle_armed = hal.util->get_soft_armed();
if ((!_mppt.vehicle_armed_last && vehicle_armed) && _params.option_is_set(AP_BattMonitor_Params::Options::MPPT_Power_On_At_Arm)) { if ((!_mppt.vehicle_armed_last && vehicle_armed) && option_is_set(AP_BattMonitor_Params::Options::MPPT_Power_On_At_Arm)) {
// arm event // arm event
mppt_set_powered_state(true); mppt_set_powered_state(true);
}else if ((_mppt.vehicle_armed_last && !vehicle_armed) && _params.option_is_set(AP_BattMonitor_Params::Options::MPPT_Power_Off_At_Disarm)) { } else if ((_mppt.vehicle_armed_last && !vehicle_armed) && option_is_set(AP_BattMonitor_Params::Options::MPPT_Power_Off_At_Disarm)) {
// disarm event // disarm event
mppt_set_powered_state(false); mppt_set_powered_state(false);
} }