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SITL: Battery to reuse computed delta-time in temperature calc

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This commit is contained in:
Hunter McClelland
2026-05-11 13:11:56 +10:00
committed by Peter Barker
parent fbc77bc454
commit bfe6bbecd9
2 changed files with 5 additions and 8 deletions
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libraries/SITL/SIM_Battery.cpp
+4 -6
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@@ -178,19 +178,17 @@ void Battery::consume_energy(float current_amp, uint64_t now_us)
voltage_filter.apply(voltage, dt);
update_temperature(current_amp, now_us);
update_temperature(current_amp, dt);
}
void Battery::update_temperature(float current_amp, uint64_t now_us)
void Battery::update_temperature(float current_amp, float dt)
{
const uint64_t temperature_dt = now_us - temperature.last_update_us;
temperature.last_update_us = now_us;
// thermal_capacity value chosen to match previous steady-state behavior at 28amps
// (reminder: thermal_capacity = mass * specific_heat)
constexpr float thermal_capacity = 2.8f; // watt*seconds/degC
constexpr float inverse_of_thermal_capacity = 1 / thermal_capacity; // use inverse so we can multiply, not divide
const float temp_increase = (current_amp * current_amp) * resistance_ohm * inverse_of_thermal_capacity * (temperature_dt * 0.000001);
const float temp_increase = (current_amp * current_amp) * resistance_ohm * inverse_of_thermal_capacity * dt;
// decay temperature at some %second towards ambient
const float temp_decrease = (temperature.kelvin - 273.15f) * 0.10 * temperature_dt * 0.000001;
const float temp_decrease = (temperature.kelvin - 273.15f) * 0.10 * dt;
temperature.kelvin += (temp_increase - temp_decrease);
}
libraries/SITL/SIM_Battery.h
+1 -2
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@@ -51,9 +51,8 @@ private:
struct {
float kelvin = 273;
uint64_t last_update_us;
} temperature;
void update_temperature(float current_amp, uint64_t now_us);
void update_temperature(float current_amp, float dt);
// 10Hz filter for battery voltage
LowPassFilterFloat voltage_filter{10};