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px4-firmware
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battery: don't reset on every loop iteration

This commit is contained in:
Matthias Grob 2021-06-29 16:40:12 +02:00
parent 8d74e52bb7
commit a99ddd0845
3 changed files with 19 additions and 28 deletions
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3
boards/bitcraze/crazyflie/syslink/syslink_main.cpp
View File

@ -286,9 +286,6 @@ Syslink::task_main()
_memory = new SyslinkMemory(this);
_memory->init();
_battery.reset();
// int ret;
/* Open serial port */

39
src/lib/battery/battery.cpp
View File

@ -103,27 +103,9 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us)
updateParams();
}
void Battery::reset()
{
memset(&_battery_status, 0, sizeof(_battery_status));
_battery_status.current_a = -1.f;
_battery_status.remaining = 1.f;
_battery_status.scale = 1.f;
// Publish at least one cell such that the total voltage gets into MAVLink BATTERY_STATUS
_battery_status.cell_count = math::max(_params.n_cells, static_cast<int32_t>(1));
// TODO: check if it is sane to reset warning to NONE
_battery_status.warning = battery_status_s::BATTERY_WARNING_NONE;
_battery_status.connected = false;
_battery_status.capacity = _params.capacity > 0.0f ? (uint16_t)_params.capacity : 0;
_battery_status.temperature = NAN;
_battery_status.id = (uint8_t) _index;
}
void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v, float current_a, bool connected,
int source, int priority, float throttle_normalized)
{
reset();
if (!_battery_initialized) {
_voltage_filter_v.reset(voltage_v);
_current_filter_a.reset(current_a);
@ -145,15 +127,21 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
_battery_initialized = true;
_battery_status.voltage_v = voltage_v;
_battery_status.voltage_filtered_v = _voltage_filter_v.getState();
_battery_status.scale = _scale;
_battery_status.current_a = current_a;
_battery_status.current_filtered_a = _current_filter_a.getState();
_battery_status.current_average_a = -1.f; // support will follow
_battery_status.discharged_mah = _discharged_mah;
_battery_status.warning = _warning;
_battery_status.remaining = _state_of_charge;
_battery_status.scale = _scale;
_battery_status.temperature = NAN;
// Publish at least one cell such that the total voltage gets into MAVLink BATTERY_STATUS
_battery_status.cell_count = math::max(_params.n_cells, static_cast<int32_t>(1));
_battery_status.connected = connected;
_battery_status.source = source;
_battery_status.priority = priority;
_battery_status.capacity = _params.capacity > 0.f ? static_cast<uint16_t>(_params.capacity) : 0;
_battery_status.id = (uint8_t) _index;
_battery_status.warning = _warning;
static constexpr int32_t uorb_max_cells = sizeof(_battery_status.voltage_cell_v) / sizeof(
_battery_status.voltage_cell_v[0]);
@ -164,6 +152,17 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
for (int i = 0; i < max_cells; i++) {
_battery_status.voltage_cell_v[i] = _battery_status.voltage_filtered_v / max_cells;
}
} else {
_battery_status.current_a = -1.f;
_battery_status.remaining = 1.f;
_battery_status.scale = 1.f;
// TODO: check if it is sane to reset warning to NONE
_battery_status.warning = battery_status_s::BATTERY_WARNING_NONE;
_battery_status.connected = false;
_battery_status.capacity = _params.capacity > 0.0f ? (uint16_t)_params.capacity : 0;
_battery_status.temperature = NAN;
_battery_status.id = (uint8_t) _index;
}
if (source == _params.source) {

5
src/lib/battery/battery.h
View File

@ -68,11 +68,6 @@ public:
Battery(int index, ModuleParams *parent, const int sample_interval_us);
~Battery() = default;
/**
* Reset all battery stats and report invalid/nothing.
*/
void reset();
/**
* Get the battery cell count
*/