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battery compensation is now performed on the cell voltage rather than the total voltage

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nanthony21
2018-02-10 11:38:27 -06:00
committed by Lorenz Meier
parent e04d30c9cf
commit 9c7de38b75
1 changed files with 7 additions and 5 deletions
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src/modules/systemlib/battery.cpp
+7 -5
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@@ -170,18 +170,20 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
void
Battery::estimateRemaining(float voltage_v, float current_a, float throttle_normalized, bool armed)
{
// remaining battery capacity based on voltage
const float cell_voltage = voltage_v / _n_cells.get();
// correct battery voltage locally for load drop to avoid estimation fluctuations
if (_r_internal.get() >= 0.f) {
voltage_v += _r_internal.get() * current_a;
cell_voltage += _r_internal.get() * current_a;
} else {
// assume quadratic relation between throttle and current
// good assumption if throttle represents RPM
voltage_v += throttle_normalized * throttle_normalized * _v_load_drop.get();
cell_voltage += throttle_normalized * throttle_normalized * _v_load_drop.get();
}
// remaining battery capacity based on voltage
const float cell_voltage = voltage_v / _n_cells.get();
_remaining_voltage = math::gradual(cell_voltage, _v_empty.get(), _v_charged.get(), 0.f, 1.f);
// choose which quantity we're using for final reporting