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AP_BattMonitor: cope with InfoAux without nominal voltage 

allows for reset of remaining charge from GCS or lua
This commit is contained in:
Andrew Tridgell 2023-10-28 14:54:42 +11:00
parent 532ab09c72
commit aaa4e0268a
2 changed files with 11 additions and 7 deletions
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3
libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
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@ -47,6 +47,9 @@ bool AP_BattMonitor_Backend::capacity_remaining_pct(uint8_t &percentage) const
if (!has_current() || !_state.healthy) { if (!has_current() || !_state.healthy) {
return false; return false;
} }
if (isnan(_state.consumed_mah) || _params._pack_capacity <= 0) {
return false;
}
const float mah_remaining = _params._pack_capacity - _state.consumed_mah; const float mah_remaining = _params._pack_capacity - _state.consumed_mah;
percentage = constrain_float(100 * mah_remaining / _params._pack_capacity, 0, UINT8_MAX); percentage = constrain_float(100 * mah_remaining / _params._pack_capacity, 0, UINT8_MAX);

15
libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
View File

@ -153,21 +153,22 @@ void AP_BattMonitor_DroneCAN::handle_battery_info_aux(const ardupilot_equipment_
{ {
WITH_SEMAPHORE(_sem_battmon); WITH_SEMAPHORE(_sem_battmon);
uint8_t cell_count = MIN(ARRAY_SIZE(_interim_state.cell_voltages.cells), msg.voltage_cell.len); uint8_t cell_count = MIN(ARRAY_SIZE(_interim_state.cell_voltages.cells), msg.voltage_cell.len);
float remaining_capacity_ah = _remaining_capacity_wh / msg.nominal_voltage;
float full_charge_capacity_ah = _full_charge_capacity_wh / msg.nominal_voltage;
_cycle_count = msg.cycle_count; _cycle_count = msg.cycle_count;
for (uint8_t i = 0; i < cell_count; i++) { for (uint8_t i = 0; i < cell_count; i++) {
_interim_state.cell_voltages.cells[i] = msg.voltage_cell.data[i] * 1000; _interim_state.cell_voltages.cells[i] = msg.voltage_cell.data[i] * 1000;
} }
_interim_state.is_powering_off = msg.is_powering_off; _interim_state.is_powering_off = msg.is_powering_off;
_interim_state.consumed_mah = (full_charge_capacity_ah - remaining_capacity_ah) * 1000; if (!isnan(msg.nominal_voltage) && msg.nominal_voltage > 0) {
_interim_state.consumed_wh = _full_charge_capacity_wh - _remaining_capacity_wh; float remaining_capacity_ah = _remaining_capacity_wh / msg.nominal_voltage;
_interim_state.time_remaining = is_zero(_interim_state.current_amps) ? 0 : (remaining_capacity_ah / _interim_state.current_amps * 3600); float full_charge_capacity_ah = _full_charge_capacity_wh / msg.nominal_voltage;
_interim_state.has_time_remaining = true; _interim_state.consumed_mah = (full_charge_capacity_ah - remaining_capacity_ah) * 1000;
_interim_state.consumed_wh = _full_charge_capacity_wh - _remaining_capacity_wh;
_interim_state.time_remaining = is_zero(_interim_state.current_amps) ? 0 : (remaining_capacity_ah / _interim_state.current_amps * 3600);
_interim_state.has_time_remaining = true;
}
_has_cell_voltages = true; _has_cell_voltages = true;
_has_time_remaining = true;
_has_battery_info_aux = true; _has_battery_info_aux = true;
} }