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AP_BattMonitor: changes from PR review

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This commit is contained in:
Andrew Tridgell 2018-06-14 09:10:14 +10:00
parent 05a8a5c173
commit 9638f6cab9
2 changed files with 22 additions and 9 deletions
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26
libraries/AP_BattMonitor/AP_BattMonitor_BLHeliESC.cpp
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@ -29,7 +29,7 @@ void AP_BattMonitor_BLHeliESC::init(void)
void AP_BattMonitor_BLHeliESC::read(void)
{
AP_BLHeli *blheli = AP_BLHeli::get_instance();
AP_BLHeli *blheli = AP_BLHeli::get_singleton();
if (!blheli) {
return;
}
@ -42,21 +42,25 @@ void AP_BattMonitor_BLHeliESC::read(void)
uint32_t now = AP_HAL::millis();
uint32_t highest_ms=0;
for (uint8_t i=0; i<8; i++) {
for (uint8_t i=0; i<AP_BLHELI_MAX_ESCS; i++) {
AP_BLHeli::telem_data td;
uint32_t timestamp_ms;
blheli->get_telem_data(i, td, timestamp_ms);
if (now - timestamp_ms > 1000) {
blheli->get_telem_data(i, td);
// accumulate consumed_sum regardless of age, to cope with ESC
// dropping out
consumed_sum += td.consumption;
if (now - td.timestamp_ms > 1000) {
// don't use old data
continue;
}
num_escs++;
voltage_sum += td.voltage;
current_sum += td.current;
consumed_sum += td.consumption;
temperature_sum += td.temperature;
if (timestamp_ms > highest_ms) {
highest_ms = timestamp_ms;
if (td.timestamp_ms > highest_ms) {
highest_ms = td.timestamp_ms;
}
}
@ -73,6 +77,12 @@ void AP_BattMonitor_BLHeliESC::read(void)
_state.consumed_mah = consumed_sum;
_state.last_time_micros = highest_ms * 1000;
_state.temperature_time = highest_ms;
if (current_sum > 0) {
// if we have ever got a current value then we know we have a
// current sensor
have_current = true;
}
}
#endif // HAVE_AP_BLHELI_SUPPORT

5
libraries/AP_BattMonitor/AP_BattMonitor_BLHeliESC.h
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@ -35,5 +35,8 @@ public:
void read() override;
// BLHeliESC provides current info
bool has_current() const override { return true; };
bool has_current() const override { return have_current; };
private:
bool have_current;
};