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APM: added AMP_OFFSET option 

thanks to Alexey Kozin!
This commit is contained in:
Andrew Tridgell 2012-11-21 13:33:23 +11:00
parent 61f2e18e2e
commit 8f108e2eb3
4 changed files with 24 additions and 9 deletions
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2
ArduPlane/Parameters.h
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@ -113,6 +113,7 @@ public:
k_param_ahrs, // AHRS group
k_param_barometer, // barometer ground calibration
k_param_airspeed, // AP_Airspeed parameters
k_param_curr_amp_offset,
//
// 150: Navigation parameters
@ -341,6 +342,7 @@ public:
AP_Int8 flap_2_speed;
AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt;
AP_Float curr_amp_offset;
AP_Float input_voltage;
AP_Int32 pack_capacity; // Battery pack capacity less reserve
AP_Int8 rssi_pin;

22
ArduPlane/Parameters.pde
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@ -527,9 +527,29 @@ const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(battery_monitoring, "BATT_MONITOR", 0),
GSCALAR(volt_div_ratio, "VOLT_DIVIDER", VOLT_DIV_RATIO),
// @Param: APM_PER_VOLT
// @DisplayName: Apms per volt
// @Description: Number of amps that a 1V reading on the current sensor corresponds to
// @Units: A/V
// @User: Standard
GSCALAR(curr_amp_per_volt, "AMP_PER_VOLT", CURR_AMP_PER_VOLT),
// @Param: AMP_OFFSET
// @DisplayName: AMP offset
// @Description: Voltage offset at zero current on current sensor
// @Units: Volts
// @User: Standard
GSCALAR(curr_amp_offset, "AMP_OFFSET", 0),
GSCALAR(input_voltage, "INPUT_VOLTS", INPUT_VOLTAGE),
GSCALAR(pack_capacity, "BATT_CAPACITY", HIGH_DISCHARGE),
// @Param: BATT_CAPACITY
// @DisplayName: Battery capacity
// @Description: Capacity of the battery in mAh when full
// @Units: mAh
// @User: Standard
GSCALAR(pack_capacity, "BATT_CAPACITY", 1760),
// @Param: BATT_VOLT_PIN
// @DisplayName: Battery Voltage sensing pin

7
ArduPlane/config.h
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@ -234,13 +234,6 @@
//# define CURR_AMP_PER_VOLT 13.66 // This is the proper value for the AttoPilot 13.6V/45A sensor
#endif
#ifndef CURR_AMPS_OFFSET
# define CURR_AMPS_OFFSET 0.0
#endif
#ifndef HIGH_DISCHARGE
# define HIGH_DISCHARGE 1760
#endif
//////////////////////////////////////////////////////////////////////////////
// INPUT_VOLTAGE
//

2
ArduPlane/defines.h
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@ -201,7 +201,7 @@ enum gcs_severity {
#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 CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-g.curr_amp_offset)*g.curr_amp_per_volt
#define RELAY_PIN 47