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Battery added proper initialization for the capacity voltage fusion and doubled the time constant

This commit is contained in:
Matthias Grob 2017-10-27 16:49:35 +02:00 committed by ChristophTobler
parent 663913a1dc
commit 919b6ae239
1 changed files with 10 additions and 4 deletions
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14
src/modules/systemlib/battery.cpp
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@ -59,7 +59,7 @@ Battery::Battery() :
_discharged_mah_loop(0.f),
_remaining_voltage(1.f),
_remaining_capacity(1.f),
_remaining(1.f),
_remaining(2.f),
_scale(1.f),
_warning(battery_status_s::BATTERY_WARNING_NONE),
_last_timestamp(0)
@ -191,9 +191,15 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
_remaining_capacity = math::max(1.f - _discharged_mah / _capacity.get(), 0.f);
// if battery capacity is known, fuse voltage measurement with used capacity
_remaining = 0.999f * _remaining + 0.001f * _remaining_voltage;
_remaining -= _discharged_mah_loop / _capacity.get();
_remaining = math::max(_remaining, 0.f);
if (_remaining > 1.f) {
// initialization of the state
_remaining = _remaining_voltage;
} else {
_remaining = 0.9995f * _remaining + 0.0005f * _remaining_voltage;
_remaining -= _discharged_mah_loop / _capacity.get();
_remaining = math::max(_remaining, 0.f);
}
} else {
// else use voltage