diff options
| -rw-r--r-- | src/modules/commander/commander.cpp | 11 | ||||
| -rw-r--r-- | src/modules/commander/commander_helper.cpp | 10 | ||||
| -rw-r--r-- | src/modules/commander/commander_helper.h | 3 | ||||
| -rw-r--r-- | src/modules/commander/commander_params.c | 4 |
4 files changed, 21 insertions, 7 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 953feec2a..7332c6eaa 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -918,6 +918,11 @@ int commander_thread_main(int argc, char *argv[]) struct system_power_s system_power; memset(&system_power, 0, sizeof(system_power)); + /* Subscribe to actuator controls (outputs) */ + int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); + struct actuator_controls_s actuator_controls; + memset(&actuator_controls, 0, sizeof(actuator_controls)); + control_status_leds(&status, &armed, true); /* now initialized */ @@ -1199,13 +1204,17 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(battery_status), battery_sub, &battery); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls); /* only consider battery voltage if system has been running 2s and battery voltage is valid */ if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) { status.battery_voltage = battery.voltage_filtered_v; status.battery_current = battery.current_a; status.condition_battery_voltage_valid = true; - status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah); + + /* get throttle (if armed), as we only care about energy negative throttle also counts */ + float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f; + status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, throttle); } } diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index d5fe122cb..a4aafa1f6 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -281,15 +281,17 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern) } } -float battery_remaining_estimate_voltage(float voltage, float discharged) +float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized) { float ret = 0; static param_t bat_v_empty_h; static param_t bat_v_full_h; static param_t bat_n_cells_h; static param_t bat_capacity_h; + static param_t bat_v_load_drop_h; static float bat_v_empty = 3.2f; static float bat_v_full = 4.0f; + static float bat_v_load_drop = 0.1f; static int bat_n_cells = 3; static float bat_capacity = -1.0f; static bool initialized = false; @@ -300,20 +302,22 @@ float battery_remaining_estimate_voltage(float voltage, float discharged) bat_v_full_h = param_find("BAT_V_FULL"); bat_n_cells_h = param_find("BAT_N_CELLS"); bat_capacity_h = param_find("BAT_CAPACITY"); + bat_v_load_drop_h = param_find("BAT_V_LOAD_DROP"); initialized = true; } if (counter % 100 == 0) { param_get(bat_v_empty_h, &bat_v_empty); param_get(bat_v_full_h, &bat_v_full); + param_get(bat_v_load_drop_h, &bat_v_load_drop); param_get(bat_n_cells_h, &bat_n_cells); param_get(bat_capacity_h, &bat_capacity); } counter++; - /* remaining charge estimate based on voltage */ - float remaining_voltage = (voltage - bat_n_cells * bat_v_empty) / (bat_n_cells * (bat_v_full - bat_v_empty)); + /* remaining charge estimate based on voltage and internal resistance (drop under load) */ + float remaining_voltage = (voltage - bat_n_cells * (bat_v_empty - (bat_v_load_drop * throttle_normalized)) / (bat_n_cells * (bat_v_full - bat_v_empty)); if (bat_capacity > 0.0f) { /* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */ diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h index a49c9e263..4a77fe487 100644 --- a/src/modules/commander/commander_helper.h +++ b/src/modules/commander/commander_helper.h @@ -80,8 +80,9 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern); * * @param voltage the current battery voltage * @param discharged the discharged capacity + * @param throttle_normalized the normalized throttle magnitude from 0 to 1. Negative throttle should be converted to this range as well, as it consumes energy. * @return the estimated remaining capacity in 0..1 */ -float battery_remaining_estimate_voltage(float voltage, float discharged); +float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized); #endif /* COMMANDER_HELPER_H_ */ diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index 4750f9d5c..448bc53cd 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -56,7 +56,7 @@ PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); * * @group Battery Calibration */ -PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f); +PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.3f); /** * Full cell voltage. @@ -65,7 +65,7 @@ PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f); * * @group Battery Calibration */ -PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f); +PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.15f); /** * Number of cells. |