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AP_BatteryMonitor: add current scaler for UAVCAN

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Hwurzburg 2022-01-12 10:58:45 -06:00 committed by Andrew Tridgell
parent 6fd989e2ab
commit 45e8cdea70
2 changed files with 18 additions and 3 deletions
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16
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
View File

@ -21,6 +21,17 @@
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_BattMonitor_UAVCAN::var_info[] = {
// @Param: CUR_MULT
// @DisplayName: Scales reported power monitor current
// @Description: Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
// @Range: .1 10
// @User: Advanced
AP_GROUPINFO("CUR_MULT", 27, AP_BattMonitor_UAVCAN, _cur_mult, 1.0),
AP_GROUPEND
};
UC_REGISTRY_BINDER(BattInfoCb, uavcan::equipment::power::BatteryInfo);
UC_REGISTRY_BINDER(BattInfoAuxCb, ardupilot::equipment::power::BatteryInfoAux);
UC_REGISTRY_BINDER(MpptStreamCb, mppt::Stream);
@ -30,6 +41,9 @@ AP_BattMonitor_UAVCAN::AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor
AP_BattMonitor_Backend(mon, mon_state, params),
_type(type)
{
AP_Param::setup_object_defaults(this,var_info);
_state.var_info = var_info;
// starts with not healthy
_state.healthy = false;
}
@ -125,7 +139,7 @@ void AP_BattMonitor_UAVCAN::update_interim_state(const float voltage, const floa
WITH_SEMAPHORE(_sem_battmon);
_interim_state.voltage = voltage;
_interim_state.current_amps = current;
_interim_state.current_amps = _cur_mult * current;
_soc = soc;
if (!isnanf(temperature_K) && temperature_K > 0) {

5
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h
View File

@ -22,6 +22,8 @@ public:
/// Constructor
AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params &params);
static const struct AP_Param::GroupInfo var_info[];
void init() override {}
/// Read the battery voltage and current. Should be called at 10hz
@ -54,7 +56,6 @@ public:
private:
void handle_battery_info(const BattInfoCb &cb);
void handle_battery_info_aux(const BattInfoAuxCb &cb);
void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc);
static bool match_battery_id(uint8_t instance, uint8_t battery_id) {
@ -94,7 +95,7 @@ private:
bool _has_battery_info_aux;
uint8_t _instance; // instance of this battery monitor
uavcan::Node<0> *_node; // UAVCAN node id
AP_Float _cur_mult; // scaling multiplier applied to current reports for adjustment
// MPPT variables
struct {
bool is_detected; // true if this UAVCAN device is a Packet Digital MPPT