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AP_BatteryMoniter: add mask param to sum battery backend.

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Iampete1 2021-10-19 03:04:07 +01:00 committed by Andrew Tridgell
parent d97baac926
commit 7d4f305f20
3 changed files with 32 additions and 2 deletions
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2
libraries/AP_BattMonitor/AP_BattMonitor.cpp
View File

@ -322,7 +322,7 @@ AP_BattMonitor::init()
if (drivers[instance] && state[instance].var_info) {
Type type = get_type(instance);
if((type == Type::ANALOG_VOLTAGE_AND_CURRENT) || (type == Type::ANALOG_VOLTAGE_ONLY) ||
(type == Type::FuelFlow) || (type == Type::FuelLevel_PWM)) {
(type == Type::FuelFlow) || (type == Type::FuelLevel_PWM) || (type == Type::Sum)) {
backend_analog_var_info[instance] = state[instance].var_info;
AP_Param::load_object_from_eeprom(drivers[instance], backend_analog_var_info[instance]);
}

28
libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp
View File

@ -12,6 +12,18 @@
*/
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_BattMonitor_Sum::var_info[] = {
// @Param: SUM_MASK
// @DisplayName: Battery Sum mask
// @Description: 0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
// @Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9
// @User: Standard
AP_GROUPINFO("SUM_MASK", 1, AP_BattMonitor_Sum, _sum_mask, 0),
AP_GROUPEND
};
/// Constructor
AP_BattMonitor_Sum::AP_BattMonitor_Sum(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
@ -20,6 +32,8 @@ AP_BattMonitor_Sum::AP_BattMonitor_Sum(AP_BattMonitor &mon,
AP_BattMonitor_Backend(mon, mon_state, params),
_instance(instance)
{
AP_Param::setup_object_defaults(this, var_info);
_state.var_info = var_info;
}
// read - read the voltage and current
@ -31,7 +45,19 @@ AP_BattMonitor_Sum::read()
float current_sum = 0;
uint8_t current_count = 0;
for (uint8_t i=_instance+1; i<_mon.num_instances(); i++) {
for (uint8_t i=0; i<_mon.num_instances(); i++) {
if (i == _instance) {
// never include self
continue;
}
if ((_sum_mask == 0) && (i <= _instance)) {
// sum of remaining, skip lower instances
continue;
}
if ((_sum_mask != 0) && ((_sum_mask & 1U<<i) == 0)) {
// mask param, skip if mask bit not set
continue;
}
if (!_mon.healthy(i)) {
continue;
}

4
libraries/AP_BattMonitor/AP_BattMonitor_Sum.h
View File

@ -21,7 +21,11 @@ public:
void init(void) override {}
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Int16 _sum_mask;
uint8_t _instance;
bool _has_current;
};