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Battery: get rid of the duplicate filtering, just use the already existing methods

This commit is contained in:
Matthias Grob 2017-10-23 16:57:21 +02:00 committed by ChristophTobler
parent 101aeadf03
commit 90b326f3b5
1 changed files with 3 additions and 14 deletions
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17
src/modules/systemlib/battery.cpp
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@ -95,7 +95,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
filterVoltage(voltage_v);
filterCurrent(current_a);
sumDischarged(timestamp, current_a);
estimateRemaining(voltage_v, current_a, throttle_normalized, armed);
estimateRemaining(_voltage_filtered_v, _current_filtered_a, throttle_normalized, armed);
determineWarning(connected);
computeScale();
@ -181,21 +181,10 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
// remaining battery capacity based on voltage
const float cell_voltage = voltage_v / _param_n_cells.get();
const float rvoltage = math::gradual(cell_voltage, _param_v_empty.get(), _param_v_full.get(), 0.f, 1.f);
const float rvoltage_filt = _remaining_voltage * 0.99f + rvoltage * 0.01f;
if (PX4_ISFINITE(rvoltage_filt)) {
_remaining_voltage = rvoltage_filt;
}
_remaining_voltage = math::gradual(cell_voltage, _param_v_empty.get(), _param_v_full.get(), 0.f, 1.f);
// remaining battery capacity based on used current integrated time
const float rcap = 1.0f - _discharged_mah / _param_capacity.get();
const float rcap_filt = _remaining_capacity * 0.99f + rcap * 0.01f;
if (PX4_ISFINITE(rcap_filt)) {
_remaining_capacity = rcap_filt;
}
_remaining_capacity = 1.0f - _discharged_mah / _param_capacity.get();
// limit to sane values
_remaining_voltage = (_remaining_voltage < 0.0f) ? 0.0f : _remaining_voltage;