mirror of https://github.com/ArduPilot/ardupilot
49 lines
1.1 KiB
Lua
49 lines
1.1 KiB
Lua
--[[
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script implementing pre-arm check that batteries are well balanced
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--]]
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local MAX_CELL_DEVIATION = 0.2
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local auth_id = arming:get_aux_auth_id()
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local NCELLS_MAX = 16
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function check_cell_balance(bnum)
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local min_volt = -1
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local max_volt = -1
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for c=0,NCELLS_MAX do
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local voltage = battery:get_cell_voltage(bnum, c)
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if not voltage then
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break
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end
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if min_volt == -1 or min_volt > voltage then
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min_volt = voltage
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end
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if max_volt == -1 or max_volt < voltage then
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max_volt = voltage
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end
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end
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local vdiff = max_volt - min_volt
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if vdiff > MAX_CELL_DEVIATION then
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arming:set_aux_auth_failed(auth_id, string.format("Batt[%u] imbalance %.1fV", bnum+1, vdiff))
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return false
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end
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return true
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end
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function update()
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local num_batts = battery:num_instances()
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local ok = true
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for i=0,num_batts do
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if not check_cell_balance(i) then
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ok = false
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end
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end
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if ok then
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arming:set_aux_auth_passed(auth_id)
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end
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return update, 500
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end
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return update()
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