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SITL: fix SIM_BATT_CAP_AH

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This commit is contained in:
Bob Long 2024-12-19 14:24:26 +11:00
parent 5c9003dd02
commit 65e5aa8871
4 changed files with 14 additions and 2 deletions
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6
libraries/SITL/SIM_Battery.cpp
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@ -128,6 +128,12 @@ void Battery::init_voltage(float voltage)
set_initial_SoC(voltage); set_initial_SoC(voltage);
} }
void Battery::init_capacity(float capacity)
{
capacity_Ah = capacity;
set_initial_SoC(voltage_set);
}
void Battery::set_current(float current) void Battery::set_current(float current)
{ {
uint64_t now = AP_HAL::micros64(); uint64_t now = AP_HAL::micros64();

2
libraries/SITL/SIM_Battery.h
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@ -30,9 +30,11 @@ public:
void setup(float _capacity_Ah, float _resistance, float _max_voltage); void setup(float _capacity_Ah, float _resistance, float _max_voltage);
void init_voltage(float voltage); void init_voltage(float voltage);
void init_capacity(float capacity);
void set_current(float current_amps); void set_current(float current_amps);
float get_voltage(void) const; float get_voltage(void) const;
float get_capacity(void) const { return capacity_Ah; }
// return battery temperature in Kelvin: // return battery temperature in Kelvin:
float get_temperature(void) const { return temperature.kelvin; } float get_temperature(void) const { return temperature.kelvin; }

4
libraries/SITL/SIM_Frame.cpp
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@ -609,6 +609,10 @@ void Frame::current_and_voltage(float &voltage, float &current)
battery->init_voltage(param_voltage); battery->init_voltage(param_voltage);
last_param_voltage = param_voltage; last_param_voltage = param_voltage;
} }
const float param_capacity = AP::sitl()->batt_capacity_ah;
if (!is_equal(battery->get_capacity(), param_capacity)) {
battery->init_capacity(param_capacity);
}
voltage = battery->get_voltage(); voltage = battery->get_voltage();
current = 0; current = 0;
for (uint8_t i=0; i<num_motors; i++) { for (uint8_t i=0; i<num_motors; i++) {

4
libraries/SITL/SITL.cpp
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@ -117,13 +117,13 @@ const AP_Param::GroupInfo SIM::var_info[] = {
AP_GROUPINFO("SONAR_ROT", 17, SIM, sonar_rot, Rotation::ROTATION_PITCH_270), AP_GROUPINFO("SONAR_ROT", 17, SIM, sonar_rot, Rotation::ROTATION_PITCH_270),
// @Param: BATT_VOLTAGE // @Param: BATT_VOLTAGE
// @DisplayName: Simulated battery voltage // @DisplayName: Simulated battery voltage
// @Description: Simulated battery (constant) voltage // @Description: Simulated battery voltage. Constant voltage when SIM_BATT_CAP_AH is 0, otherwise changing this parameter will re-initialize the state of charge of the battery based on this voltage versus the battery's maximum voltage (default is max voltage).
// @Units: V // @Units: V
// @User: Advanced // @User: Advanced
AP_GROUPINFO("BATT_VOLTAGE", 19, SIM, batt_voltage, 12.6f), AP_GROUPINFO("BATT_VOLTAGE", 19, SIM, batt_voltage, 12.6f),
// @Param: BATT_CAP_AH // @Param: BATT_CAP_AH
// @DisplayName: Simulated battery capacity // @DisplayName: Simulated battery capacity
// @Description: Simulated battery capacity // @Description: Simulated battery capacity. Set to 0 for unlimited capacity. Changing this parameter will re-initialize the state of charge of the battery.
// @Units: Ah // @Units: Ah
// @User: Advanced // @User: Advanced
AP_GROUPINFO("BATT_CAP_AH", 20, SIM, batt_capacity_ah, 0), AP_GROUPINFO("BATT_CAP_AH", 20, SIM, batt_capacity_ah, 0),