diff options
Diffstat (limited to 'src/modules/commander/commander_helper.cpp')
-rw-r--r-- | src/modules/commander/commander_helper.cpp | 44 |
1 files changed, 23 insertions, 21 deletions
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index a2e827a15..a5e4d1972 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -90,6 +90,29 @@ static hrt_abstime tune_end = 0; // end time of currently played tune, 0 for re static int tune_current = TONE_STOP_TUNE; // currently playing tune, can be interrupted after tune_end static unsigned int tune_durations[TONE_NUMBER_OF_TUNES]; +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 = 3.4f; +static float bat_v_full = 4.2f; +static float bat_v_load_drop = 0.06f; +static int bat_n_cells = 3; +static float bat_capacity = -1.0f; +static unsigned int counter = 0; + +int battery_init() +{ + bat_v_empty_h = param_find("BAT_V_EMPTY"); + bat_v_full_h = param_find("BAT_V_CHARGED"); + 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"); + + return OK; +} + int buzzer_init() { tune_end = 0; @@ -303,27 +326,6 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern) 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 = 3.4f; - static float bat_v_full = 4.2f; - static float bat_v_load_drop = 0.06f; - static int bat_n_cells = 3; - static float bat_capacity = -1.0f; - static bool initialized = false; - static unsigned int counter = 0; - - if (!initialized) { - bat_v_empty_h = param_find("BAT_V_EMPTY"); - bat_v_full_h = param_find("BAT_V_CHARGED"); - 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); |