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AP_BattMonitor: fixed battery remaining of sum battery

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and move to common function for update_consumed()
This commit is contained in:
Andrew Tridgell 2022-03-23 11:01:25 +11:00 committed by Randy Mackay
parent 0bb1138d49
commit d4a4bc87b3
7 changed files with 35 additions and 29 deletions
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11
libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
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@ -82,8 +82,8 @@ AP_BattMonitor_Analog::read()
// read current
if (has_current()) {
// calculate time since last current read
uint32_t tnow = AP_HAL::micros();
float dt = tnow - _state.last_time_micros;
const uint32_t tnow = AP_HAL::micros();
const uint32_t dt_us = tnow - _state.last_time_micros;
// this copes with changing the pin at runtime
_state.healthy &= _curr_pin_analog_source->set_pin(_curr_pin);
@ -91,12 +91,7 @@ AP_BattMonitor_Analog::read()
// read current
_state.current_amps = (_curr_pin_analog_source->voltage_average() - _curr_amp_offset) * _curr_amp_per_volt;
// update total current drawn since startup
if (_state.last_time_micros != 0 && dt < 2000000.0f) {
float mah = calculate_mah(_state.current_amps, dt);
_state.consumed_mah += mah;
_state.consumed_wh += 0.001f * mah * _state.voltage;
}
update_consumed(_state, dt_us);
// record time
_state.last_time_micros = tnow;

13
libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
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@ -253,3 +253,16 @@ bool AP_BattMonitor_Backend::reset_remaining(float percentage)
return true;
}
/*
update consumed mAh and Wh
*/
void AP_BattMonitor_Backend::update_consumed(AP_BattMonitor::BattMonitor_State &state, uint32_t dt_us)
{
// update total current drawn since startup
if (state.last_time_micros != 0 && dt_us < 2000000) {
const float mah = calculate_mah(state.current_amps, dt_us);
state.consumed_mah += mah;
state.consumed_wh += 0.001 * mah * state.voltage;
}
}

1
libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
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@ -90,6 +90,7 @@ protected:
// checks what failsafes could be triggered
void check_failsafe_types(bool &low_voltage, bool &low_capacity, bool &critical_voltage, bool &critical_capacity) const;
void update_consumed(AP_BattMonitor::BattMonitor_State &state, uint32_t dt_us);
private:
// resistance estimate

10
libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
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@ -109,15 +109,11 @@ void AP_BattMonitor_INA2XX::read(void)
accumulate.count = 0;
const uint32_t tnow = AP_HAL::micros();
const float dt = tnow - _state.last_time_micros;
const uint32_t dt_us = tnow - _state.last_time_micros;
// update total current drawn since startup
if (_state.last_time_micros != 0 && dt < 2000000.0) {
// .0002778 is 1/3600 (conversion to hours)
const float mah = _state.current_amps * dt * 0.0000002778;
_state.consumed_mah += mah;
_state.consumed_wh += 0.001 * mah * _state.voltage;
}
update_consumed(_state, dt_us);
_state.last_time_micros = tnow;
}

10
libraries/AP_BattMonitor/AP_BattMonitor_LTC2946.cpp
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@ -67,15 +67,11 @@ void AP_BattMonitor_LTC2946::read(void)
accumulate.count = 0;
const uint32_t tnow = AP_HAL::micros();
const float dt = tnow - _state.last_time_micros;
const uint32_t dt_us = tnow - _state.last_time_micros;
// update total current drawn since startup
if (_state.last_time_micros != 0 && dt < 2000000.0) {
// .0002778 is 1/3600 (conversion to hours)
const float mah = _state.current_amps * dt * 0.0000002778;
_state.consumed_mah += mah;
_state.consumed_wh += 0.001 * mah * _state.voltage;
}
update_consumed(_state, dt_us);
_state.last_time_micros = tnow;
}

11
libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp
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@ -73,13 +73,22 @@ AP_BattMonitor_Sum::read()
current_count++;
}
}
const uint32_t tnow_us = AP_HAL::micros();
const uint32_t dt_us = tnow_us - _state.last_time_micros;
if (voltage_count > 0) {
_state.voltage = voltage_sum / voltage_count;
_state.last_time_micros = AP_HAL::micros();
}
if (current_count > 0) {
_state.current_amps = current_sum;
}
update_consumed(_state, dt_us);
_has_current = (current_count > 0);
_state.healthy = (voltage_count > 0);
if (_state.healthy) {
_state.last_time_micros = tnow_us;
}
}

8
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
View File

@ -154,14 +154,10 @@ void AP_BattMonitor_UAVCAN::update_interim_state(const float voltage, const floa
const uint32_t tnow = AP_HAL::micros();
if (!_has_battery_info_aux || _mppt.is_detected) {
uint32_t dt = tnow - _interim_state.last_time_micros;
const uint32_t dt_us = tnow - _interim_state.last_time_micros;
// update total current drawn since startup
if (_interim_state.last_time_micros != 0 && dt < 2000000) {
float mah = calculate_mah(_interim_state.current_amps, dt);
_interim_state.consumed_mah += mah;
_interim_state.consumed_wh += 0.001f * mah * _interim_state.voltage;
}
update_consumed(_interim_state, dt_us);
}
// record time