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Fix battery current integration issue

This commit is contained in:
Lorenz Meier 2016-04-21 21:32:18 +02:00
parent 8e5091703c
commit c2f88c78b4
1 changed files with 10 additions and 0 deletions
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10
src/modules/systemlib/battery.cpp
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@ -70,6 +70,7 @@ Battery::reset(battery_status_s *battery_status)
battery_status->voltage_filtered_v = 0.0f;
battery_status->current_a = -1.0f;
battery_status->discharged_mah = -1.0f;
battery_status->remaining = 0.0f;
battery_status->cell_count = _param_n_cells.get();
// TODO: check if it is sane to reset warning to NONE
battery_status->warning = battery_status_s::BATTERY_WARNING_NONE;
@ -92,6 +93,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
battery_status->discharged_mah = _discharged_mah;
battery_status->cell_count = _param_n_cells.get();
battery_status->warning = _warning;
battery_status->remaining = _remaining;
} else {
reset(battery_status);
@ -112,6 +114,14 @@ Battery::filterVoltage(float voltage_v)
void
Battery::sumDischarged(hrt_abstime timestamp, float current_a)
{
// Not a valid measurement
if (current_a < 0.0f) {
// Because the measurement was invalid we need to stop integration
// and re-initialize with the next valid measurement
_last_timestamp = 0;
return;
}
// Ignore first update because we don't know dT.
if (_last_timestamp != 0) {
_discharged_mah = current_a * (timestamp - _last_timestamp) * 1.0e-3f / 3600.0f;