mirror of
https://github.com/ArduPilot/ardupilot
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32af63f734
Arming added for quadrotor. Need to add to rover still. Battery monitoring added with auto shut-off in quadrotor controller. Finally split apo header and source files to allow faster compiling/ fix cyclic header inclusions.
52 lines
902 B
C++
52 lines
902 B
C++
/*
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* AP_BatteryMonitor.h
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*
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*/
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#ifndef AP_BATTERYMONITOR_H_
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#define AP_BATTERYMONITOR_H_
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#include <inttypes.h>
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#include <wiring.h>
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namespace apo {
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class AP_BatteryMonitor {
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public:
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AP_BatteryMonitor(uint8_t pin, float voltageDivRatio, float minVolt, float maxVolt) :
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_pin(pin), _voltageDivRatio(voltageDivRatio),
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_minVolt(minVolt), _maxVolt(maxVolt), _voltage(maxVolt) {
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}
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void update() {
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// low pass filter on voltage
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_voltage = _voltage*.9 + (analogRead(_pin)/255)*_voltageDivRatio*0.1;
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}
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/**
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* Accessors
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*/
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float getVoltage() {
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return _voltage;
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}
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uint8_t getPercentage() {
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float norm = (_voltage-_minVolt)/(_maxVolt-_minVolt);
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if (norm < 0) norm = 0;
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else if (norm > 1) norm = 1;
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return 100*norm;
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}
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private:
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uint8_t _pin;
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float _voltageDivRatio;
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float _voltage;
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float _minVolt;
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float _maxVolt;
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};
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} // namespace apo
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#endif /* AP_BATTERYMONITOR_H_ */
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