forked from Archive/PX4-Autopilot
Explicit internal battery resistance params
This commit is contained in:
parent
a634c14582
commit
37641042cc
|
@ -5,6 +5,7 @@
|
|||
*.px4log
|
||||
*.dSYM
|
||||
*.o
|
||||
*.gch
|
||||
*.pyc
|
||||
*~
|
||||
.*.swp
|
||||
|
|
|
@ -4,7 +4,7 @@ float32 current_a # Battery current in amperes, -1 if unknown
|
|||
float32 current_filtered_a # Battery current in amperes, filtered, 0 if unknown
|
||||
float32 discharged_mah # Discharged amount in mAh, -1 if unknown
|
||||
float32 remaining # From 1 to 0, -1 if unknown
|
||||
float32 scale # Power scaling factor with >= 1, or -1 if unknown
|
||||
float32 scale # Power scaling factor, >= 1, or -1 if unknown
|
||||
int32 cell_count # Number of cells
|
||||
bool connected # Wether or not a battery is connected
|
||||
#bool is_powering_off # Power off event imminent indication, false if unknown
|
||||
|
|
|
@ -81,21 +81,16 @@ Battery::reset(battery_status_s *battery_status)
|
|||
battery_status->connected = false;
|
||||
}
|
||||
|
||||
// TODO: Distinguish between terminal battery voltage and real battery voltage
|
||||
|
||||
void
|
||||
Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, float throttle_normalized,
|
||||
bool armed, battery_status_s *battery_status)
|
||||
{
|
||||
|
||||
// what we should do is
|
||||
// TODO: Add in voltage_term_v
|
||||
reset(battery_status);
|
||||
battery_status->timestamp = timestamp;
|
||||
filterVoltage(voltage_v);
|
||||
filterCurrent(current_a);
|
||||
sumDischarged(timestamp, current_a);
|
||||
estimateRemaining(voltage_v, throttle_normalized, armed);
|
||||
estimateRemaining(voltage_v, current_a, throttle_normalized, armed);
|
||||
determineWarning();
|
||||
computeScale();
|
||||
|
||||
|
@ -163,13 +158,22 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
|
|||
}
|
||||
|
||||
void
|
||||
Battery::estimateRemaining(float voltage_v, float throttle_normalized, bool armed)
|
||||
Battery::estimateRemaining(float voltage_v, float current_a, float throttle_normalized, bool armed)
|
||||
{
|
||||
// assume 10% voltage drop of the full drop range with motors idle
|
||||
const float thr = (armed) ? ((fabsf(throttle_normalized) + 0.1f) / 1.1f) : 0.0f;
|
||||
const float bat_r = _param_r_internal.get();
|
||||
|
||||
// remaining charge estimate based on voltage and internal resistance (drop under load)
|
||||
const float bat_v_empty_dynamic = _param_v_empty.get() - (_param_v_load_drop.get() * thr);
|
||||
float bat_v_empty_dynamic = _param_v_empty.get();
|
||||
|
||||
if (bat_r >= 0.0f) {
|
||||
bat_v_empty_dynamic -= current_a * bat_r;
|
||||
|
||||
} else {
|
||||
// assume 10% voltage drop of the full drop range with motors idle
|
||||
const float thr = (armed) ? ((fabsf(throttle_normalized) + 0.1f) / 1.1f) : 0.0f;
|
||||
|
||||
bat_v_empty_dynamic -= _param_v_load_drop.get() * thr;
|
||||
}
|
||||
|
||||
// the range from full to empty is the same for batteries under load and without load,
|
||||
// since the voltage drop applies to both the full and empty state
|
||||
|
@ -226,7 +230,12 @@ Battery::determineWarning()
|
|||
void
|
||||
Battery::computeScale()
|
||||
{
|
||||
_scale = (_param_v_full.get() * _param_n_cells.get()) / _voltage_filtered_v;
|
||||
const float voltage_range = (_param_v_full.get() - _param_v_empty.get());
|
||||
|
||||
// reusing capacity calculation to get single cell voltage before drop
|
||||
const float bat_v = _param_v_empty.get() + (voltage_range * _remaining_voltage);
|
||||
|
||||
_scale = _param_v_full.get() / bat_v;
|
||||
|
||||
if (_scale > 1.3f) { // Allow at most 30% compensation
|
||||
_scale = 1.3f;
|
||||
|
|
|
@ -94,7 +94,7 @@ private:
|
|||
void filterVoltage(float voltage_v);
|
||||
void filterCurrent(float current_a);
|
||||
void sumDischarged(hrt_abstime timestamp, float current_a);
|
||||
void estimateRemaining(float voltage_v, float throttle_normalized, bool armed);
|
||||
void estimateRemaining(float voltage_v, float current_a, float throttle_normalized, bool armed);
|
||||
void determineWarning();
|
||||
void computeScale();
|
||||
|
||||
|
|
|
@ -107,7 +107,8 @@ PARAM_DEFINE_FLOAT(BAT_CRIT_THR, 0.07f);
|
|||
* This implicitely defines the internal resistance
|
||||
* to maximum current ratio and assumes linearity.
|
||||
* A good value to use is the difference between the
|
||||
* 5C and 20-25C load.
|
||||
* 5C and 20-25C load. Not used if BAT_R_INTERNAL is
|
||||
* set.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit V
|
||||
|
@ -118,6 +119,19 @@ PARAM_DEFINE_FLOAT(BAT_CRIT_THR, 0.07f);
|
|||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
|
||||
|
||||
/**
|
||||
* Explicitly defines the per cell internal resistance
|
||||
*
|
||||
* If non-negative, then this will be used in place of
|
||||
* BAT_V_LOAD_DROP for all calculations.
|
||||
*
|
||||
* @group Battery Calibration
|
||||
* @unit Ohms
|
||||
* @min -1.0
|
||||
* @max 0.2
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(BAT_R_INTERNAL, -1.0f);
|
||||
|
||||
/**
|
||||
* Number of cells.
|
||||
*
|
||||
|
|
Loading…
Reference in New Issue