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battery: use mechanism to keep an up to date armed state

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This commit is contained in:
Matthias Grob
2022-03-31 16:38:53 +02:00
parent 3f6ab5ea19
commit 13c3eae6d0
2 changed files with 9 additions and 4 deletions
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src/lib/battery/battery.cpp
+8 -4
View File
@@ -56,7 +56,6 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us,
_voltage_filter_v.setParameters(expected_filter_dt, 1.f); _voltage_filter_v.setParameters(expected_filter_dt, 1.f);
_current_filter_a.setParameters(expected_filter_dt, .5f); _current_filter_a.setParameters(expected_filter_dt, .5f);
_current_average_filter_a.setParameters(expected_filter_dt, 50.f); _current_average_filter_a.setParameters(expected_filter_dt, 50.f);
_throttle_filter.setParameters(expected_filter_dt, 1.f); _throttle_filter.setParameters(expected_filter_dt, 1.f);
if (index > 9 || index < 1) { if (index > 9 || index < 1) {
@@ -275,14 +274,19 @@ float Battery::computeRemainingTime(float current_a)
// Remaining time estimation only possible with capacity // Remaining time estimation only possible with capacity
if (_params.capacity > 0.f) { if (_params.capacity > 0.f) {
vehicle_status_s vehicle_status{}; if (_vehicle_status_sub.updated()) {
_vehicle_status_sub.copy(&vehicle_status); vehicle_status_s vehicle_status;
if (_vehicle_status_sub.copy(&vehicle_status)) {
_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
}
}
if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON) { if (!PX4_ISFINITE(_current_average_filter_a.getState()) || _current_average_filter_a.getState() < FLT_EPSILON) {
_current_average_filter_a.reset(_params.bat_avrg_current); _current_average_filter_a.reset(_params.bat_avrg_current);
} }
if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED && PX4_ISFINITE(current_a)) { if (_armed && PX4_ISFINITE(current_a)) {
// only update with positive numbers // only update with positive numbers
_current_average_filter_a.update(fmaxf(current_a, 0.f)); _current_average_filter_a.update(fmaxf(current_a, 0.f));
} }
src/lib/battery/battery.h
+1
View File
@@ -170,4 +170,5 @@ private:
float _scale{1.f}; float _scale{1.f};
uint8_t _warning{battery_status_s::BATTERY_WARNING_NONE}; uint8_t _warning{battery_status_s::BATTERY_WARNING_NONE};
hrt_abstime _last_timestamp{0}; hrt_abstime _last_timestamp{0};
bool _armed{false};
}; };