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Plane: fixed initial reporting of battery remaining

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we were not showing battery remaining 100% until we used some battery
This commit is contained in:
Andrew Tridgell 2013-07-14 21:59:15 +10:00
parent e80d73df93
commit ed20c4cbc8
3 changed files with 12 additions and 11 deletions
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2
ArduPlane/ArduPlane.pde
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@ -447,6 +447,8 @@ static struct {
float current_total_mah; float current_total_mah;
// true when a low battery event has happened // true when a low battery event has happened
bool low_batttery; bool low_batttery;
// time when current was last read
uint32_t last_time_ms;
} battery; } battery;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////

8
ArduPlane/GCS_Mavlink.pde
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@ -216,10 +216,10 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
uint16_t battery_current = -1; uint16_t battery_current = -1;
uint8_t battery_remaining = -1; uint8_t battery_remaining = -1;
if (battery.current_total_mah != 0 && g.pack_capacity != 0) { if (battery.last_time_ms != 0) {
battery_remaining = (100.0 * (g.pack_capacity - battery.current_total_mah) / g.pack_capacity); if (g.pack_capacity != 0) {
} battery_remaining = (100.0 * (g.pack_capacity - battery.current_total_mah) / g.pack_capacity);
if (battery.current_total_mah != 0) { }
battery_current = battery.current_amps * 100; battery_current = battery.current_amps * 100;
} }

13
ArduPlane/sensors.pde
View File

@ -52,17 +52,16 @@ static void read_battery(void)
} }
if (g.battery_monitoring == 4) { if (g.battery_monitoring == 4) {
static uint32_t last_time_ms;
uint32_t tnow = hal.scheduler->millis(); uint32_t tnow = hal.scheduler->millis();
float dt = tnow - last_time_ms; float dt = tnow - battery.last_time_ms;
if (last_time_ms != 0 && dt < 2000) { // this copes with changing the pin at runtime
// this copes with changing the pin at runtime batt_curr_pin->set_pin(g.battery_curr_pin);
batt_curr_pin->set_pin(g.battery_curr_pin); battery.current_amps = CURRENT_AMPS(batt_curr_pin);
battery.current_amps = CURRENT_AMPS(batt_curr_pin); if (battery.last_time_ms != 0 && dt < 2000) {
// .0002778 is 1/3600 (conversion to hours) // .0002778 is 1/3600 (conversion to hours)
battery.current_total_mah += battery.current_amps * dt * 0.0002778f; battery.current_total_mah += battery.current_amps * dt * 0.0002778f;
} }
last_time_ms = tnow; battery.last_time_ms = tnow;
} }
if (battery.voltage != 0 && if (battery.voltage != 0 &&