Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 10:26:52 +08:00
Code Issues Actions 6 Packages Projects Releases Wiki Activity

Make all battery sensor drivers report their sample interval

Browse Source 
To make use of the time abstraction in the leaky integrator.
This commit is contained in:
Matthias Grob
2020-04-01 21:36:39 +02:00
parent 4dc9ca69ab
commit 88c21337fa
14 changed files with 48 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/battery/battery.cpp
+7 -4
View File
@@ -45,15 +45,18 @@
#include <cstring>
#include <px4_platform_common/defines.h>
Battery::Battery(int index, ModuleParams *parent) :
using namespace time_literals;
Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us) :
ModuleParams(parent),
_index(index < 1 || index > 9 ? 1 : index),
_warning(battery_status_s::BATTERY_WARNING_NONE),
_last_timestamp(0)
{
_voltage_filter_v.setParameters(.01f, 1.f);
_current_filter_a.setParameters(.01f, .5f);
_throttle_filter.setParameters(.01f, 1.f);
const float expected_filter_dt = static_cast<float>(sample_interval_us) / 1_s;
_voltage_filter_v.setParameters(expected_filter_dt, 1.f);
_current_filter_a.setParameters(expected_filter_dt, .5f);
_throttle_filter.setParameters(expected_filter_dt, 1.f);
if (index > 9 || index < 1) {
PX4_ERR("Battery index must be between 1 and 9 (inclusive). Received %d. Defaulting to 1.", index);
src/lib/battery/battery.h
+1 -1
View File
@@ -64,7 +64,7 @@
class Battery : public ModuleParams
{
public:
Battery(int index, ModuleParams *parent);
Battery(int index, ModuleParams *parent, const int sample_interval_us);
~Battery();