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BattMonitor: update comments and defaults

This commit is contained in:
Randy Mackay 2013-09-30 21:56:49 +09:00
parent 366d73124a
commit d9fe099885
1 changed files with 21 additions and 14 deletions
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35
libraries/AP_BattMonitor/AP_BattMonitor.h
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@ -24,7 +24,7 @@
# define AP_BATT_VOLT_PIN 13 // APM2.5/2.6 with 3dr power module
# define AP_BATT_CURR_PIN 12
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
// Flymaple board pin 20 is connected to the external battery supply
// via a 24k/5.1k voltage divider. The schematic claims the divider is 25k/5k,
@ -33,22 +33,29 @@
# define AP_BATT_VOLT_PIN 20
# define AP_BATT_CURR_PIN 19
# define AP_BATT_VOLTDIVIDER_DEFAULT 5.70588
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// px4
# define AP_BATT_VOLT_PIN 2
# define AP_BATT_CURR_PIN 3
# define AP_BATT_VOLTDIVIDER_DEFAULT 1.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
// pixhawk
# define AP_BATT_VOLT_PIN 2
# define AP_BATT_CURR_PIN 3
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define AP_BATT_VOLT_PIN 13
# define AP_BATT_CURR_PIN 12
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
#else
# define AP_BATT_VOLT_PIN -1
# define AP_BATT_CURR_PIN -1
# define AP_BATT_VOLTDIVIDER_DEFAULT 10.1
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0
# define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 18.002
#endif
// Other values normally set directly by mission planner
@ -58,7 +65,7 @@
// # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 13.66 // Amp/Volt for AttoPilot 13.6V/45A sensor
#define AP_BATT_CAPACITY_DEFAULT 1760
#define AP_BATT_CAPACITY_DEFAULT 3300
#define AP_BATT_INITIAL_VOLTAGE 99 // initial voltage set on start-up to avoid low voltage alarms
@ -101,13 +108,13 @@ public:
protected:
/// parameters
AP_Int8 _monitoring; /// 0=disabled, 3=voltage only, 4=voltage and current
AP_Int8 _volt_pin;
AP_Int8 _curr_pin;
AP_Float _volt_multiplier;
AP_Float _curr_amp_per_volt;
AP_Float _curr_amp_offset;
AP_Int32 _pack_capacity; /// battery pack capacity less reserve
AP_Int8 _monitoring; /// 0=disabled, 3=voltage only, 4=voltage and current
AP_Int8 _volt_pin; /// board pin used to measure battery voltage
AP_Int8 _curr_pin; /// board pin used to measure battery current
AP_Float _volt_multiplier; /// voltage on volt pin multiplied by this to calculate battery voltage
AP_Float _curr_amp_per_volt; /// voltage on current pin multiplied by this to calculate current in amps
AP_Float _curr_amp_offset; /// offset voltage that is subtracted from current pin before conversion to amps
AP_Int32 _pack_capacity; /// battery pack capacity less reserve in mAh
/// internal variables
float _voltage; /// last read voltage