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battery: weigh voltage based estimate more when it's low 

This is a minimal change to make it harder to crash a
vehicle with an empty battery if the capacity was set completely
wrong.

We need better documentation and improvements to the estimation.
This commit is contained in:
Matthias Grob 2024-02-15 13:55:18 +01:00
parent cb09dde606
commit 7ae28f6dc9
1 changed files with 2 additions and 2 deletions
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4
src/lib/battery/battery.cpp
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@ -239,10 +239,10 @@ float Battery::calculateStateOfChargeVoltageBased(const float voltage_v, const f
void Battery::estimateStateOfCharge()
{
// choose which quantity we're using for final reporting
if (_params.capacity > 0.f && _battery_initialized) {
if ((_params.capacity > 0.f) && _battery_initialized && (_state_of_charge_volt_based > _params.emergen_thr)) {
// if battery capacity is known, fuse voltage measurement with used capacity
// The lower the voltage the more adjust the estimate with it to avoid deep discharge
const float weight_v = 3e-4f * (1 - _state_of_charge_volt_based);
const float weight_v = 3e-2f * (1 - _state_of_charge_volt_based);
_state_of_charge = (1 - weight_v) * _state_of_charge + weight_v * _state_of_charge_volt_based;
// directly apply current capacity slope calculated using current
_state_of_charge -= _discharged_mah_loop / _params.capacity;