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AP_BattMonitor: ignore SoC option for UAVCAN devices

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This commit is contained in:
李孟晓 2020-12-07 05:30:23 +00:00 committed by Peter Barker
parent eeb728237f
commit 40dbb316c1
5 changed files with 29 additions and 1 deletions
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2
libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
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@ -47,7 +47,7 @@ public:
virtual bool has_temperature() const { return false; }
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
uint8_t capacity_remaining_pct() const;
virtual uint8_t capacity_remaining_pct() const;
// return true if cycle count can be provided and fills in cycles argument
virtual bool get_cycle_count(uint16_t &cycles) const { return false; }

7
libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
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@ -169,6 +169,13 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
// @User: Standard
AP_GROUPINFO("BUS", 20, AP_BattMonitor_Params, _i2c_bus, 0),
// @Param: OPTIONS
// @DisplayName: Battery monitor options
// @Description: This sets options to change the behaviour of the battery monitor
// @Bitmask: 1:IgnoreUAVCAN SoC
// @User: Advanced
AP_GROUPINFO("OPTIONS", 21, AP_BattMonitor_Params, _options, 0),
AP_GROUPEND
};

4
libraries/AP_BattMonitor/AP_BattMonitor_Params.h
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@ -17,6 +17,9 @@ public:
BattMonitor_LowVoltageSource_Raw = 0,
BattMonitor_LowVoltageSource_SagCompensated = 1
};
enum class Options : uint8_t {
Ignore_UAVCAN_SoC = (1U<<0),
};
BattMonitor_LowVoltage_Source failsafe_voltage_source(void) { return (enum BattMonitor_LowVoltage_Source)_failsafe_voltage_source.get(); }
@ -40,4 +43,5 @@ public:
AP_Int32 _arming_minimum_capacity; /// capacity level required to arm
AP_Float _arming_minimum_voltage; /// voltage level required to arm
AP_Int8 _i2c_bus; /// I2C bus number
AP_Int32 _options; /// Options
};

13
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
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@ -90,6 +90,7 @@ void AP_BattMonitor_UAVCAN::handle_battery_info(const BattInfoCb &cb)
_interim_state.temperature = cb.msg->temperature;
_interim_state.voltage = cb.msg->voltage;
_interim_state.current_amps = cb.msg->current;
_soc = cb.msg->state_of_charge_pct;
uint32_t tnow = AP_HAL::micros();
uint32_t dt = tnow - _interim_state.last_time_micros;
@ -137,4 +138,16 @@ void AP_BattMonitor_UAVCAN::read()
_state.healthy = _interim_state.healthy;
}
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
uint8_t AP_BattMonitor_UAVCAN::capacity_remaining_pct() const
{
if ((uint32_t(_params._options.get()) & uint32_t(AP_BattMonitor_Params::Options::Ignore_UAVCAN_SoC)) ||
_soc > 100) {
// a UAVCAN battery monitor may not be able to supply a state of charge. If it can't then
// the user can set the option to use current integration in the backend instead.
return AP_BattMonitor_Backend::capacity_remaining_pct();
}
return _soc;
}
#endif

4
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h
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@ -24,6 +24,9 @@ public:
/// Read the battery voltage and current. Should be called at 10hz
void read() override;
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
uint8_t capacity_remaining_pct() const override;
bool has_current() const override {
return true;
}
@ -47,4 +50,5 @@ private:
AP_UAVCAN* _ap_uavcan;
uint8_t _node_id;
uint8_t _soc;
};