mirror of https://github.com/ArduPilot/ardupilot
BattMonitor: update comments and defaults
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@ -24,7 +24,7 @@
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# define AP_BATT_VOLT_PIN 13 // APM2.5/2.6 with 3dr power module
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# define AP_BATT_CURR_PIN 12
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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// Flymaple board pin 20 is connected to the external battery supply
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// via a 24k/5.1k voltage divider. The schematic claims the divider is 25k/5k,
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@ -33,22 +33,29 @@
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# define AP_BATT_VOLT_PIN 20
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# define AP_BATT_CURR_PIN 19
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# define AP_BATT_VOLTDIVIDER_DEFAULT 5.70588
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
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// px4
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# define AP_BATT_VOLT_PIN 2
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# define AP_BATT_CURR_PIN 3
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# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
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// pixhawk
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# define AP_BATT_VOLT_PIN 2
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# define AP_BATT_CURR_PIN 3
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define AP_BATT_VOLT_PIN 13
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# define AP_BATT_CURR_PIN 12
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#else
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# define AP_BATT_VOLT_PIN -1
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# define AP_BATT_CURR_PIN -1
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# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0
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# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
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#endif
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// Other values normally set directly by mission planner
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@ -58,7 +65,7 @@
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// # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 13.66 // Amp/Volt for AttoPilot 13.6V/45A sensor
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#define AP_BATT_CAPACITY_DEFAULT 1760
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#define AP_BATT_CAPACITY_DEFAULT 3300
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#define AP_BATT_INITIAL_VOLTAGE 99 // initial voltage set on start-up to avoid low voltage alarms
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@ -101,13 +108,13 @@ public:
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protected:
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/// parameters
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AP_Int8 _monitoring; /// 0=disabled, 3=voltage only, 4=voltage and current
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AP_Int8 _volt_pin;
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AP_Int8 _curr_pin;
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AP_Float _volt_multiplier;
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AP_Float _curr_amp_per_volt;
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AP_Float _curr_amp_offset;
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AP_Int32 _pack_capacity; /// battery pack capacity less reserve
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AP_Int8 _monitoring; /// 0=disabled, 3=voltage only, 4=voltage and current
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AP_Int8 _volt_pin; /// board pin used to measure battery voltage
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AP_Int8 _curr_pin; /// board pin used to measure battery current
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AP_Float _volt_multiplier; /// voltage on volt pin multiplied by this to calculate battery voltage
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AP_Float _curr_amp_per_volt; /// voltage on current pin multiplied by this to calculate current in amps
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AP_Float _curr_amp_offset; /// offset voltage that is subtracted from current pin before conversion to amps
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AP_Int32 _pack_capacity; /// battery pack capacity less reserve in mAh
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/// internal variables
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float _voltage; /// last read voltage
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