Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 02:55:07 +08:00
Code Issues Actions 19 Packages Projects Releases Wiki Activity

battery: only reset soc filter with valid voltage measurement (#23513)

Browse Source
This commit is contained in:
chfriedrich98
2024-08-08 17:09:36 +02:00
committed by GitHub
parent 0381e14822
commit a91aa40a3d
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/battery/battery.cpp
+5 -5
View File
@@ -108,10 +108,6 @@ void Battery::updateCurrent(const float current_a)
void Battery::updateBatteryStatus(const hrt_abstime &timestamp) void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
{ {
if (!_battery_initialized && _internal_resistance_initialized && _params.n_cells > 0) {
resetInternalResistanceEstimation(_voltage_v, _current_a);
}
// Require minimum voltage otherwise override connected status // Require minimum voltage otherwise override connected status
if (_voltage_v < LITHIUM_BATTERY_RECOGNITION_VOLTAGE) { if (_voltage_v < LITHIUM_BATTERY_RECOGNITION_VOLTAGE) {
_connected = false; _connected = false;
@@ -121,9 +117,13 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
_last_unconnected_timestamp = timestamp; _last_unconnected_timestamp = timestamp;
} }
// wait with initializing filters to avoid relying on a voltage sample from the rising edge // Wait with initializing filters to avoid relying on a voltage sample from the rising edge
_battery_initialized = _connected && (timestamp > _last_unconnected_timestamp + 2_s); _battery_initialized = _connected && (timestamp > _last_unconnected_timestamp + 2_s);
if (_connected && !_battery_initialized && _internal_resistance_initialized && _params.n_cells > 0) {
resetInternalResistanceEstimation(_voltage_v, _current_a);
}
sumDischarged(timestamp, _current_a); sumDischarged(timestamp, _current_a);
_state_of_charge_volt_based = _state_of_charge_volt_based =
calculateStateOfChargeVoltageBased(_voltage_v, _current_a); calculateStateOfChargeVoltageBased(_voltage_v, _current_a);