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SITL: added battery voltage and current 

assume 3DR brick
This commit is contained in:
Andrew Tridgell 2013-09-30 15:34:47 +10:00 committed by Randy Mackay
parent 74c8c8aafa
commit c7df0eaf2a
3 changed files with 19 additions and 0 deletions
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6
libraries/AP_HAL_AVR_SITL/AnalogIn.cpp
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@ -36,6 +36,12 @@ float ADCSource::read_latest() {
case 0:
return _sitlState->airspeed_pin_value;
case 12:
return _sitlState->current_pin_value;
case 13:
return _sitlState->voltage_pin_value;
case ANALOG_INPUT_NONE:
default:
return 0.0;

11
libraries/AP_HAL_AVR_SITL/SITL_State.cpp
View File

@ -59,6 +59,8 @@ pid_t SITL_State::_parent_pid;
uint32_t SITL_State::_update_count;
bool SITL_State::_motors_on;
uint16_t SITL_State::airspeed_pin_value;
uint16_t SITL_State::voltage_pin_value;
uint16_t SITL_State::current_pin_value;
AP_Baro_HIL *SITL_State::_barometer;
AP_InertialSensor_HIL *SITL_State::_ins;
@ -478,6 +480,15 @@ void SITL_State::_simulator_output(void)
}
}
float throttle = _motors_on?(control.pwm[2]-1000) / 1000.0f:0;
// lose 0.7V at full throttle
float voltage = 12.6 - 0.7f*throttle;
// assume 50A at full throttle
float current = 50.0 * throttle;
// assume 3DR power brick
voltage_pin_value = ((voltage / 10.1) / 5.0) * 1024;
current_pin_value = ((current / 17.0) / 5.0) * 1024;
// setup wind control
control.speed = _sitl->wind_speed * 100;
float direction = _sitl->wind_direction;

2
libraries/AP_HAL_AVR_SITL/SITL_State.h
View File

@ -44,6 +44,8 @@ public:
// simulated airspeed
static uint16_t airspeed_pin_value;
static uint16_t voltage_pin_value;
static uint16_t current_pin_value;
private:
void _parse_command_line(int argc, char * const argv[]);