mirror of https://github.com/ArduPilot/ardupilot
94 lines
3.9 KiB
C++
94 lines
3.9 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_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_Backend.h"
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/*
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base class constructor.
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This incorporates initialisation as well.
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*/
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AP_BattMonitor_Backend::AP_BattMonitor_Backend(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state,
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AP_BattMonitor_Params ¶ms) :
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_mon(mon),
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_state(mon_state),
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_params(params)
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{
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}
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/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
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uint8_t AP_BattMonitor_Backend::capacity_remaining_pct() const
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{
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float mah_remaining = _params._pack_capacity - _state.consumed_mah;
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if ( _params._pack_capacity > 10 ) { // a very very small battery
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return (100 * (mah_remaining) / _params._pack_capacity);
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} else {
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return 0;
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}
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}
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// update battery resistance estimate
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// faster rates of change of the current and voltage readings cause faster updates to the resistance estimate
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// the battery resistance is calculated by comparing the latest current and voltage readings to a low-pass filtered current and voltage
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// high current steps are integrated into the resistance estimate by varying the time constant of the resistance filter
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void AP_BattMonitor_Backend::update_resistance_estimate()
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{
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// return immediately if no current
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if (!has_current() || !is_positive(_state.current_amps)) {
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return;
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}
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// update maximum current seen since startup and protect against divide by zero
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_current_max_amps = MAX(_current_max_amps, _state.current_amps);
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float current_delta = _state.current_amps - _current_filt_amps;
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if (is_zero(current_delta)) {
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return;
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}
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// update reference voltage and current
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if (_state.voltage > _resistance_voltage_ref) {
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_resistance_voltage_ref = _state.voltage;
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_resistance_current_ref = _state.current_amps;
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}
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// calculate time since last update
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uint32_t now = AP_HAL::millis();
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float loop_interval = (now - _resistance_timer_ms) / 1000.0f;
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_resistance_timer_ms = now;
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// estimate short-term resistance
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float filt_alpha = constrain_float(loop_interval/(loop_interval + AP_BATT_MONITOR_RES_EST_TC_1), 0.0f, 0.5f);
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float resistance_alpha = MIN(1, AP_BATT_MONITOR_RES_EST_TC_2*fabsf((_state.current_amps-_current_filt_amps)/_current_max_amps));
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float resistance_estimate = -(_state.voltage-_voltage_filt)/current_delta;
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if (is_positive(resistance_estimate)) {
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_state.resistance = _state.resistance*(1-resistance_alpha) + resistance_estimate*resistance_alpha;
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}
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// calculate maximum resistance
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if ((_resistance_voltage_ref > _state.voltage) && (_state.current_amps > _resistance_current_ref)) {
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float resistance_max = (_resistance_voltage_ref - _state.voltage) / (_state.current_amps - _resistance_current_ref);
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_state.resistance = MIN(_state.resistance, resistance_max);
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}
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// update the filtered voltage and currents
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_voltage_filt = _voltage_filt*(1-filt_alpha) + _state.voltage*filt_alpha;
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_current_filt_amps = _current_filt_amps*(1-filt_alpha) + _state.current_amps*filt_alpha;
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// update estimated voltage without sag
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_state.voltage_resting_estimate = _state.voltage + _state.current_amps * _state.resistance;
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}
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