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battery: fix parameter migration and clarify

This commit is contained in:
Matthias Grob 2020-08-25 19:38:55 +02:00
parent 0db4881413
commit 9c4e26c00c
3 changed files with 24 additions and 42 deletions
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5
src/lib/battery/battery.cpp
View File

@ -107,7 +107,7 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us)
Battery::~Battery()
{
orb_unadvertise(_orb_advert);
orb_unadvertise(_battery_status_pub);
}
void
@ -186,7 +186,8 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
void
Battery::publish()
{
orb_publish_auto(ORB_ID(battery_status), &_orb_advert, &_battery_status, &_orb_instance);
int dummy; // We're not interested in the instance ID we get
orb_publish_auto(ORB_ID(battery_status), &_battery_status_pub, &_battery_status, &dummy);
}
void

53
src/lib/battery/battery.h
View File

@ -43,12 +43,10 @@
#pragma once
#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/module_params.h>
#include <parameters/param.h>
#include <drivers/drv_adc.h>
#include <board_config.h>
#include <px4_platform_common/board_common.h>
#include <math.h>
@ -157,61 +155,45 @@ protected:
const int _index;
bool _first_parameter_update{false};
virtual void updateParams() override;
bool _first_parameter_update{true};
void updateParams() override;
/**
* This function helps with migrating to new parameters. It performs several tasks:
* - Update both the old and new parameter values using `param_get(...)`
* - Check if either parameter changed just now
* - If so, display a warning if the deprecated parameter was used
* - Copy the new value over to the other parameter
* - If this is the first time the parameters are fetched, check if they are equal
* - If not, display a warning and copy the value of the deprecated parameter over to the new one
* This function helps migrating and syncing from/to deprecated parameters. BAT_* BAT1_*
* @tparam T Type of the parameter (int or float)
* @param old_param Handle to the old deprecated parameter (for example, param_find("BAT_N_CELLS")
* @param new_param Handle to the new replacement parameter (for example, param_find("BAT1_N_CELLS")
* @param old_param Handle to the old deprecated parameter (for example, param_find("BAT_N_CELLS"))
* @param new_param Handle to the new replacement parameter (for example, param_find("BAT1_N_CELLS"))
* @param old_val Pointer to the value of the old deprecated parameter
* @param new_val Pointer to the value of the new replacement parameter
* @param firstcall If true, then this function will not check to see if the values have changed
* (Since the old values are uninitialized)
* @return True iff either of these parameters changed just now and the migration was done.
* @param firstcall If true, this function prefers migrating old to new
*/
template<typename T>
bool migrateParam(param_t old_param, param_t new_param, T *old_val, T *new_val, bool firstcall)
void migrateParam(param_t old_param, param_t new_param, T *old_val, T *new_val, bool firstcall)
{
T previous_old_val = *old_val;
T previous_new_val = *new_val;
// Update both the old and new parameter values
param_get(old_param, old_val);
param_get(new_param, new_val);
if (!firstcall) {
if ((float) fabs((float) *old_val - (float) previous_old_val) > FLT_EPSILON
&& (float) fabs((float) *old_val - (float) *new_val) > FLT_EPSILON) {
// Check if the parameter values are different
if (!isFloatEqual(*old_val, *new_val)) {
// If so, copy the new value over to the unchanged parameter
// Note: If they differ from the beginning we migrate old to new
if (firstcall || !isFloatEqual(*old_val, previous_old_val)) {
param_set_no_notification(new_param, old_val);
param_get(new_param, new_val);
return true;
} else if ((float) fabs((float) *new_val - (float) previous_new_val) > FLT_EPSILON
&& (float) fabs((float) *old_val - (float) *new_val) > FLT_EPSILON) {
} else if (!isFloatEqual(*new_val, previous_new_val)) {
param_set_no_notification(old_param, new_val);
param_get(old_param, old_val);
return true;
}
} else {
if ((float) fabs((float) *old_val - (float) *new_val) > FLT_EPSILON) {
param_set_no_notification(new_param, old_val);
param_get(new_param, new_val);
return true;
}
}
return false;
}
bool isFloatEqual(float a, float b) { return fabsf(a - b) > FLT_EPSILON; }
private:
void sumDischarged(hrt_abstime timestamp, float current_a);
void estimateRemaining(const float voltage_v, const float current_a, const float throttle);
@ -230,6 +212,5 @@ private:
uint8_t _warning;
hrt_abstime _last_timestamp;
orb_advert_t _orb_advert{nullptr};
int _orb_instance;
orb_advert_t _battery_status_pub{nullptr};
};

8
src/lib/battery/battery_params_deprecated.c
View File

@ -32,11 +32,11 @@
****************************************************************************/
/**
* @file battery_params_1.c
* @file battery_params_deprecated.c
* @author Timothy Scott <timothy@auterion.com>
*
* Defines parameters for Battery 1. For backwards compatibility, the
* parameter names do not have a "1" in them.
* Defines the deprcated single battery configuration which are temporarily kept for backwards compatibility with QGC.
* The new parameter set has a number after "BAT" e.g. BAT1_V_EMPTY.
*/
/**
@ -160,4 +160,4 @@ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
* @value 1 External
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT_SOURCE, 0);
PARAM_DEFINE_INT32(BAT_SOURCE, 0);