/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #ifndef AP_BATTMONITOR_H #define AP_BATTMONITOR_H #include #include #include #include // ArduPilot Mega Vector/Matrix math Library #include // ArduPilot Mega Analog to Digital Converter Library #include // battery monitor types #define AP_BATT_MONITOR_DISABLED 0 #define AP_BATT_MONITOR_VOLTAGE_ONLY 3 #define AP_BATT_MONITOR_VOLTAGE_AND_CURRENT 4 // setup default mag orientation for each board type #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 # define AP_BATT_VOLT_PIN 0 // Battery voltage on A0 # define AP_BATT_CURR_PIN 1 // Battery current on A1 # define AP_BATT_VOLTDIVIDER_DEFAULT 3.56 // on-board APM1 voltage divider with a 3.9kOhm resistor # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 0 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 # 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 17.0 #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, // but the actual installed resistors are not so. // So the divider ratio is 5.70588 = (24000+5100)/5100 # 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 17.0 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && defined(CONFIG_ARCH_BOARD_PX4FMU_V1) // px4 # define AP_BATT_VOLT_PIN 100 # define AP_BATT_CURR_PIN 101 # define AP_BATT_VOLTDIVIDER_DEFAULT 1.1 # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 #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 17.0 #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 17.0 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V40) # define AP_BATT_VOLT_PIN 10 # define AP_BATT_CURR_PIN -1 # define AP_BATT_VOLTDIVIDER_DEFAULT 1.1 # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) # define AP_BATT_VOLT_PIN 10 # define AP_BATT_CURR_PIN 11 # define AP_BATT_VOLTDIVIDER_DEFAULT 1.1 # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V50) # define AP_BATT_VOLT_PIN 10 # define AP_BATT_CURR_PIN 11 # define AP_BATT_VOLTDIVIDER_DEFAULT 1.1 # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) # define AP_BATT_VOLT_PIN 10 # define AP_BATT_CURR_PIN 11 # define AP_BATT_VOLTDIVIDER_DEFAULT 1.1 # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51) # define AP_BATT_VOLT_PIN 10 # define AP_BATT_CURR_PIN -1 # define AP_BATT_VOLTDIVIDER_DEFAULT 1.1 # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && defined(CONFIG_ARCH_BOARD_VRHERO_V10) # define AP_BATT_VOLT_PIN 100 # define AP_BATT_CURR_PIN 101 # define AP_BATT_VOLTDIVIDER_DEFAULT 1.1 # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0 #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 17.0 #endif // Other values normally set directly by mission planner // # define AP_BATT_VOLTDIVIDER_DEFAULT 15.70 // Volt divider for AttoPilot 50V/90A sensor // # define AP_BATT_VOLTDIVIDER_DEFAULT 4.127 // Volt divider for AttoPilot 13.6V/45A sensor // # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 27.32 // Amp/Volt for AttoPilot 50V/90A sensor // # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 13.66 // Amp/Volt for AttoPilot 13.6V/45A sensor #define AP_BATT_CAPACITY_DEFAULT 3300 #define AP_BATT_LOW_VOLT_TIMEOUT_MS 10000 // low voltage of 10 seconds will cause battery_exhausted to return true class AP_BattMonitor { public: /// Constructor AP_BattMonitor(); /// Initialize the battery monitor void init(); /// Read the battery voltage and current. Should be called at 10hz void read(); /// monitoring - returns whether we are monitoring voltage only or voltage and current int8_t monitoring() const { return _monitoring; } /// monitoring - returns whether we are monitoring voltage only or voltage and current void set_monitoring(uint8_t mon) { _monitoring.set(mon); } /// Battery voltage. Initialized to 99 to prevent low voltage events at startup float voltage() const { return _voltage; } /// Battery pack instantaneous currrent draw in amperes float current_amps() const { return _current_amps; } /// Total current drawn since start-up (Amp-hours) float current_total_mah() const { return _current_total_mah; } /// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100) uint8_t capacity_remaining_pct() const; /// exhausted - returns true if the voltage remains below the low_voltage for 10 seconds or remaining capacity falls below min_capacity bool exhausted(float low_voltage, float min_capacity_mah); static const struct AP_Param::GroupInfo var_info[]; protected: /// parameters 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 float _current_amps; /// last read current drawn float _current_total_mah; /// total current drawn since startup (Amp-hours) uint32_t _last_time_micros; /// time when current was last read uint32_t _low_voltage_start_ms; /// time when voltage dropped below the minimum AP_HAL::AnalogSource *_volt_pin_analog_source; AP_HAL::AnalogSource *_curr_pin_analog_source; }; #endif // AP_BATTMONITOR_H