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AP_BattMonitor: added option to send resting voltage to GCS

This commit is contained in:
Andrew Tridgell 2022-03-19 18:09:45 +11:00 committed by Peter Barker
parent f1ec657c41
commit 9c067f360f
4 changed files with 19 additions and 1 deletions
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13
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -438,6 +438,19 @@ 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
float AP_BattMonitor::gcs_voltage(uint8_t instance) const
{
if ((_params[instance]._options.get() & uint32_t(AP_BattMonitor_Params::Options::GCS_Resting_Voltage)) != 0) {
return voltage_resting_estimate(instance);
}
if (instance < _num_instances) {
return state[instance].voltage;
} else {
return 0.0f;
}
}
/// current_amps - returns the instantaneous current draw in amperes
bool AP_BattMonitor::current_amps(float &current, uint8_t instance) const {
if ((instance < _num_instances) && (drivers[instance] != nullptr) && drivers[instance]->has_current()) {

4
libraries/AP_BattMonitor/AP_BattMonitor.h
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@ -162,6 +162,10 @@ public:
float voltage(uint8_t instance) const;
float voltage() const { return voltage(AP_BATT_PRIMARY_INSTANCE); }
// voltage for a GCS, may be resistance compensated
float gcs_voltage(uint8_t instance) const;
float gcs_voltage(void) const { return gcs_voltage(AP_BATT_PRIMARY_INSTANCE); }
/// get voltage with sag removed (based on battery current draw and resistance)
/// this will always be greater than or equal to the raw voltage
float voltage_resting_estimate(uint8_t instance) const;

2
libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
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@ -143,7 +143,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Battery monitor options
// @Description: This sets options to change the behaviour of the battery monitor
// @Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot
// @Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS
// @User: Advanced
AP_GROUPINFO("OPTIONS", 21, AP_BattMonitor_Params, _options, 0),

1
libraries/AP_BattMonitor/AP_BattMonitor_Params.h
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@ -24,6 +24,7 @@ public:
MPPT_Power_On_At_Arm = (1U<<3), // MPPT Enabled when vehicle is armed, if HW supports it
MPPT_Power_Off_At_Boot = (1U<<4), // MPPT Disabled at startup (aka boot), if HW supports it
MPPT_Power_On_At_Boot = (1U<<5), // MPPT Enabled at startup (aka boot), if HW supports it. If Power_Off_at_Boot is also set, the behavior is Power_Off_at_Boot
GCS_Resting_Voltage = (1U<<6), // send resistance resting voltage to GCS
};
BattMonitor_LowVoltage_Source failsafe_voltage_source(void) const { return (enum BattMonitor_LowVoltage_Source)_failsafe_voltage_source.get(); }