mirror of https://github.com/ArduPilot/ardupilot
109 lines
3.0 KiB
C++
109 lines
3.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_BattMonitor_config.h"
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#if AP_BATTERY_ESC_ENABLED
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#include "AP_BattMonitor_ESC.h"
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void AP_BattMonitor_ESC::init(void)
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{
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}
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void AP_BattMonitor_ESC::read(void)
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{
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AP_ESC_Telem& telem = AP::esc_telem();
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uint8_t voltage_escs = 0; // number of ESCs with valid voltage
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uint8_t temperature_escs = 0; // number of ESCs with valid temperature
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float voltage_sum = 0;
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float current_sum = 0;
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float temperature_sum = 0;
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uint32_t highest_ms = 0;
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_state.consumed_mah = delta_mah;
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for (uint8_t i=0; i<ESC_TELEM_MAX_ESCS; i++) {
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int16_t temperature_cdeg;
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float voltage;
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float current;
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float consumption_mah;
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if (telem.get_consumption_mah(i, consumption_mah)) {
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// accumulate consumed_sum regardless of age, to cope with ESC
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// dropping out
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_state.consumed_mah += consumption_mah;
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}
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if (telem.get_voltage(i, voltage)) {
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voltage_sum += voltage;
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voltage_escs++;
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}
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if (telem.get_current(i, current)) {
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current_sum += current;
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}
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if (telem.get_temperature(i, temperature_cdeg)) {
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temperature_sum += float(temperature_cdeg) * 0.01f;
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temperature_escs++;
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}
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if (telem.get_last_telem_data_ms(i) > highest_ms) {
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highest_ms = telem.get_last_telem_data_ms(i);
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}
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}
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if (voltage_escs > 0) {
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_state.voltage = voltage_sum / voltage_escs;
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_state.healthy = true;
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} else {
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_state.voltage = 0;
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_state.healthy = false;
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}
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if (temperature_escs > 0) {
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_state.temperature = temperature_sum / temperature_escs;
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have_temperature = true;
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} else {
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_state.temperature = 0;
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}
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_state.current_amps = current_sum;
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_state.last_time_micros = highest_ms * 1000;
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_state.temperature_time = highest_ms;
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if (current_sum > 0) {
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// if we have ever got a current value then we know we have a
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// current sensor
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have_current = true;
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}
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}
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bool AP_BattMonitor_ESC::reset_remaining(float percentage)
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{
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delta_mah = 0.0f;
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read();
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const float current_mah = _state.consumed_mah;
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if (AP_BattMonitor_Backend::reset_remaining(percentage)) {
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delta_mah = _state.consumed_mah - current_mah;
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return true;
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}
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return false;
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}
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#endif // AP_BATTERY_ESC_ENABLED
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