dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Battery: Initialize lowpass value properly

This commit is contained in:
Lorenz Meier 2016-04-28 13:24:53 +02:00
parent 4441b74020
commit 3345a586d2
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/systemlib/battery.cpp
View File

@ -50,7 +50,7 @@ Battery::Battery() :
_param_v_load_drop(this, "V_LOAD_DROP"),
_param_low_thr(this, "LOW_THR"),
_param_crit_thr(this, "CRIT_THR"),
_voltage_filtered_v(0.0f),
_voltage_filtered_v(-1.0f),
_throttle_filtered(0.0f),
_discharged_mah(0.0f),
_remaining(1.0f),
@ -84,7 +84,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
battery_status->timestamp = timestamp;
filterVoltage(voltage_v);
sumDischarged(timestamp, current_a);
estimateRemaining(voltage_v, throttle_normalized);
estimateRemaining(_voltage_filtered_v, throttle_normalized);
determineWarning();
if (_voltage_filtered_v > 2.1f) {
@ -101,6 +101,10 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
void
Battery::filterVoltage(float voltage_v)
{
if (_voltage_filtered_v < 0) {
_voltage_filtered_v = voltage_v;
}
// TODO: inspect that filter performance
const float filtered_next = _voltage_filtered_v * 0.999f + voltage_v * 0.001f;