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AP_BattMonitor: capacity_remaining_pct add checks for healthy status and has_current

This commit is contained in:
Josh Henderson 2021-09-23 00:57:41 -04:00 committed by Peter Barker
parent f298ea406e
commit ca568953d9
3 changed files with 16 additions and 2 deletions
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9
libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
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@ -30,13 +30,20 @@ AP_BattMonitor_Backend::AP_BattMonitor_Backend(AP_BattMonitor &mon, AP_BattMonit
{
}
/// capacity_remaining_pct - returns true if the battery % is available and writes to the percentage argument
// capacity_remaining_pct - returns true if the battery % is available and writes to the percentage argument
// return false if the battery is unhealthy, does not have current monitoring, or the pack_capacity is too small
bool AP_BattMonitor_Backend::capacity_remaining_pct(uint8_t &percentage) const
{
// we consider anything under 10 mAh as being an invalid capacity and so will be our measurement of remaining capacity
if ( _params._pack_capacity <= 10) {
return false;
}
// the monitor must have current readings in order to estimate consumed_mah and be healthy
if (!has_current() || !_state.healthy) {
return false;
}
const float mah_remaining = _params._pack_capacity - _state.consumed_mah;
percentage = constrain_float(100 * mah_remaining / _params._pack_capacity, 0, UINT8_MAX);
return true;

3
libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
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@ -46,7 +46,8 @@ public:
// returns true if battery monitor provides temperature
virtual bool has_temperature() const { return false; }
/// capacity_remaining_pct - returns true if the percentage is valid and writes to percentage argument
// capacity_remaining_pct - returns true if the battery % is available and writes to the percentage argument
// returns false if the battery is unhealthy, does not have current monitoring, or the pack_capacity is too small
virtual bool capacity_remaining_pct(uint8_t &percentage) const WARN_IF_UNUSED;
// return true if cycle count can be provided and fills in cycles argument

6
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
View File

@ -155,6 +155,12 @@ bool AP_BattMonitor_UAVCAN::capacity_remaining_pct(uint8_t &percentage) const
// the user can set the option to use current integration in the backend instead.
return AP_BattMonitor_Backend::capacity_remaining_pct(percentage);
}
// the monitor must have current readings in order to estimate consumed_mah and be healthy
if (!has_current() || !_state.healthy) {
return false;
}
percentage = _soc;
return true;
}