Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ArduPlane: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery monitor

This commit is contained in:
rmackay9 2012-10-13 20:51:41 +09:00
parent 4a41a3d210
commit 775489d658
4 changed files with 30 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduPlane/Parameters.h
View File

@ -135,6 +135,12 @@ public:
k_param_camera_mount,
k_param_camera_mount2,
//
// Batery monitoring parameters
//
k_param_battery_volt_pin = 168,
k_param_battery_curr_pin, // 169
//
// 170: Radio settings
//
@ -335,6 +341,8 @@ public:
AP_Float curr_amp_per_volt;
AP_Float input_voltage;
AP_Int32 pack_capacity; // Battery pack capacity less reserve
AP_Int8 battery_volt_pin;
AP_Int8 battery_curr_pin;
AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
AP_Int8 stick_mixing;
AP_Int8 rudder_steer;

14
ArduPlane/Parameters.pde
View File

@ -530,6 +530,20 @@ const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
// @Param: BATT_VOLT_PIN
// @DisplayName: Battery Voltage sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: 99:Disabled, 0:A0, 1:A1, 13:A13
// @User: Standard
GSCALAR(battery_volt_pin, "BATT_VOLT_PIN", BATTERY_VOLT_PIN),
// @Param: BATT_CURR_PIN
// @DisplayName: Battery Current sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.
// @Values: 99:Disabled, 1:A1, 2:A2, 12:A12
// @User: Standard
GSCALAR(battery_curr_pin, "BATT_CURR_PIN", BATTERY_CURR_PIN),
GSCALAR(inverted_flight_ch, "INVERTEDFLT_CH", 0),
// barometer ground calibration. The GND_ prefix is chosen for

8
ArduPlane/config.h
View File

@ -116,8 +116,8 @@
# define LED_OFF LOW
# define USB_MUX_PIN -1
# define CONFIG_RELAY ENABLED
# define BATTERY_PIN_1 0
# define CURRENT_PIN_1 1
# define BATTERY_VOLT_PIN 0 // Battery voltage on A0
# define BATTERY_CURR_PIN 1 // Battery current on A1
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
# define A_LED_PIN 27
# define B_LED_PIN 26
@ -129,8 +129,8 @@
#else
# define USB_MUX_PIN 23
#endif
# define BATTERY_PIN_1 1
# define CURRENT_PIN_1 2
# define BATTERY_VOLT_PIN 1 // Battery voltage on A1
# define BATTERY_CURR_PIN 2 // Battery current on A2
#endif

8
ArduPlane/sensors.pde
View File

@ -40,12 +40,12 @@ static void read_battery(void)
}
if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
static AP_AnalogSource_Arduino bat_pin(BATTERY_PIN_1);
battery_voltage1 = BATTERY_VOLTAGE(bat_pin.read_average());
static AP_AnalogSource_Arduino batt_volt_pin(g.battery_volt_pin);
battery_voltage1 = BATTERY_VOLTAGE(batt_volt_pin.read_average());
}
if(g.battery_monitoring == 4) {
static AP_AnalogSource_Arduino current_pin(CURRENT_PIN_1);
current_amps1 = CURRENT_AMPS(current_pin.read_average());
static AP_AnalogSource_Arduino batt_curr_pin(g.battery_curr_pin);
current_amps1 = CURRENT_AMPS(batt_curr_pin.read_average());
current_total1 += current_amps1 * (float)delta_ms_medium_loop * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
}