aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

DataFlash: Log battery temperature and cell voltages

Browse Source
This commit is contained in:
Michael du Breuil 2017-04-08 12:04:12 -07:00 committed by Francisco Ferreira
parent 341ac701d1
commit 3b6d348241
2 changed files with 25 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
libraries/DataFlash/LogFile.cpp
View File

@ -1872,24 +1872,43 @@ void DataFlash_Class::Log_Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f
void DataFlash_Class::Log_Write_Current(const AP_BattMonitor &battery)
{
if (battery.num_instances() >= 1) {
float temp;
bool has_temp = battery.get_temperature(temp, 0);
struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
time_us : AP_HAL::micros64(),
battery_voltage : battery.voltage(0),
current_amps : battery.current_amps(0),
current_total : battery.current_total_mah(0),
temperature : (int16_t)(has_temp ? (temp * 100) : 0),
};
AP_BattMonitor::cells cells = battery.get_cell_voltages(0);
// check battery structure can hold all cells
static_assert(ARRAY_SIZE(cells.cells) == (sizeof(pkt.cell_voltages) / sizeof(pkt.cell_voltages[0])),
"Battery cell number doesn't match in library and log structure");
for (uint8_t i = 0; i < ARRAY_SIZE(cells.cells); i++) {
pkt.cell_voltages[i] = cells.cells[i] + 1;
}
WriteBlock(&pkt, sizeof(pkt));
}
if (battery.num_instances() >= 2) {
float temp;
bool has_temp = battery.get_temperature(temp, 1);
struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT2_MSG),
time_us : AP_HAL::micros64(),
battery_voltage : battery.voltage(1),
current_amps : battery.current_amps(1),
current_total : battery.current_total_mah(1),
temperature : (int16_t)(has_temp ? (temp * 100) : 0),
};
AP_BattMonitor::cells cells = battery.get_cell_voltages(1);
for (uint8_t i = 0; i < ARRAY_SIZE(cells.cells); i++) {
pkt.cell_voltages[i] = cells.cells[i] + 1;
}
WriteBlock(&pkt, sizeof(pkt));
}
}

8
libraries/DataFlash/LogStructure.h
View File

@ -515,6 +515,8 @@ struct PACKED log_Current {
float battery_voltage;
float current_amps;
float current_total;
int16_t temperature; // degrees C * 100
uint16_t cell_voltages[10];
};
struct PACKED log_Compass {
@ -831,6 +833,8 @@ struct PACKED log_AOA_SSA {
#define QUAT_LABELS "TimeUS,Q1,Q2,Q3,Q4"
#define QUAT_FMT "Qffff"
#define CURR_LABELS "TimeUS,Volt,Curr,CurrTot,Temp,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10"
#define CURR_FMT "QfffcHHHHHHHHHH"
/*
Format characters in the format string for binary log messages
@ -898,9 +902,9 @@ Format characters in the format string for binary log messages
{ LOG_ARSP_MSG, sizeof(log_AIRSPEED), \
"ARSP", "QffcffB", "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset,U" }, \
{ LOG_CURRENT_MSG, sizeof(log_Current), \
"CURR", "Qfff","TimeUS,Volt,Curr,CurrTot" },\
"CURR", CURR_FMT,CURR_LABELS }, \
{ LOG_CURRENT2_MSG, sizeof(log_Current), \
"CUR2", "Qfff","TimeUS,Volt,Curr,CurrTot" }, \
"CUR2", CURR_FMT,CURR_LABELS }, \
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
"ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" }, \
{ LOG_COMPASS_MSG, sizeof(log_Compass), \