diff --git a/conf/userconf/tudelft/control_panel.xml b/conf/userconf/tudelft/control_panel.xml
index b172fdc6d0..280fcfff4e 100644
--- a/conf/userconf/tudelft/control_panel.xml
+++ b/conf/userconf/tudelft/control_panel.xml
@@ -59,6 +59,7 @@
+
diff --git a/sw/ground_segment/python/energy_mon/battery_model.py b/sw/ground_segment/python/energy_mon/battery_model.py
new file mode 100755
index 0000000000..edbd1e688b
--- /dev/null
+++ b/sw/ground_segment/python/energy_mon/battery_model.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+#
+# Copyright (C) 2018 TUDelft
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi. If not, see .
+#
+
+import os
+import numpy as np
+
+PPRZ_SRC = os.getenv("PAPARAZZI_SRC", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)),
+ '../../../..')))
+
+
+batmodel = np.loadtxt(PPRZ_SRC + '/sw/ground_segment/python/energy_mon/batterymodel.csv', delimiter=',')
+
+
+capacity = 3300 #mAh
+cells_in_series = 6 #cells
+cells_in_parallel = 6 #cells
+
+
+
+def index_from_volt(volt):
+ v = round(volt*100.0,0)
+ # 1/100 of volts
+ if v>420:
+ v=420
+ elif v<251:
+ v=251
+
+ # index in a list from 420:-1:250
+ index = 420 - v
+ return index
+
+def mah_from_volt_and_current(volt, current):
+ global batmodel
+ item = index_from_volt(volt)
+ mah = batmodel[item,1:]
+
+ # interpolate between point 1 and 2
+ m0 = mah[1]
+ a0 = 4.0
+ dm = mah[1]-mah[0]
+ da = 2.0
+
+ return (current - a0) / da * dm + m0
+
+
+#print(mah_from_volt_and_current(3.6, 2.5))
+
+#for i in batmodel[:,[0,3]]:
+# print(i)
+
diff --git a/sw/ground_segment/python/energy_mon/batterymodel.csv b/sw/ground_segment/python/energy_mon/batterymodel.csv
new file mode 100755
index 0000000000..0531c9a7bf
--- /dev/null
+++ b/sw/ground_segment/python/energy_mon/batterymodel.csv
@@ -0,0 +1,172 @@
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+
diff --git a/sw/ground_segment/python/energy_mon/energy_mon.ico b/sw/ground_segment/python/energy_mon/energy_mon.ico
new file mode 100755
index 0000000000..5190695bdc
Binary files /dev/null and b/sw/ground_segment/python/energy_mon/energy_mon.ico differ
diff --git a/sw/ground_segment/python/energy_mon/energy_mon.py b/sw/ground_segment/python/energy_mon/energy_mon.py
new file mode 100755
index 0000000000..eee387fe6f
--- /dev/null
+++ b/sw/ground_segment/python/energy_mon/energy_mon.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python
+#
+# Copyright (C) 2018 TUDelft
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi. If not, see .
+#
+
+import wx
+import energy_mon_viewer
+
+class EnergyMonApp(wx.App):
+ def OnInit(self):
+ self.main = energy_mon_viewer.EnergyMonFrame()
+ self.main.Show()
+ self.SetTopWindow(self.main)
+ return True
+
+def main():
+ application = EnergyMonApp(0)
+ application.MainLoop()
+
+if __name__ == '__main__':
+ main()
diff --git a/sw/ground_segment/python/energy_mon/energy_mon_viewer.py b/sw/ground_segment/python/energy_mon/energy_mon_viewer.py
new file mode 100644
index 0000000000..bc9e8a6efe
--- /dev/null
+++ b/sw/ground_segment/python/energy_mon/energy_mon_viewer.py
@@ -0,0 +1,288 @@
+#
+# Copyright (C) 2018 TUDelft
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi. If not, see .
+#
+
+import wx
+
+import sys
+import os
+import math
+
+import battery_model as bat
+
+PPRZ_HOME = os.getenv("PAPARAZZI_HOME", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)),
+ '../../../..')))
+
+PPRZ_SRC = os.getenv("PAPARAZZI_SRC", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)),
+ '../../../..')))
+
+sys.path.append(PPRZ_HOME + "/var/lib/python")
+
+from pprzlink.ivy import IvyMessagesInterface
+
+WIDTH = 600
+BARH = 140
+
+
+def QIColour(qi):
+ return {
+ 0: wx.Colour(64, 64, 64), # This channel is idle
+ 1: wx.Colour(128, 128, 128), # Searching
+ 2: wx.Colour(0, 128, 128), # Signal aquired
+ 3: wx.Colour(255, 0, 0), # Signal detected but unusable
+ 4: wx.Colour(0, 0, 255), # Code Lock on Signal
+ 5: wx.Colour(0, 255, 0), # Code and Carrier locked
+ 6: wx.Colour(0, 255, 0), # Code and Carrier locked
+ 7: wx.Colour(0, 255, 0), # Code and Carrier locked
+ }[qi]
+
+
+class EnergyMessage(object):
+ def __init__(self, msg):
+ self.volt = float(msg['bat'])
+ self.current = float(msg['amp'])
+ self.power = float(msg['power'])
+ self.energy = float(msg['energy'])
+
+class TempMessage(object):
+ def __init__(self, msg):
+ self.motor = float(msg['temp1'])
+ self.battery = float(msg['temp2'])
+
+class BatteryCell(object):
+ def __init__(self):
+ self.voltage = 0;
+ self.current = 0;
+ self.energy = 0;
+ self.model = 0;
+ self.temperature = 0;
+ def fill_from_energy_msg(self, energy):
+ self.voltage = energy.volt / bat.cells_in_series
+ self.current = energy.current / bat.cells_in_parallel
+ self.energy = energy.energy / 6.0
+ self.model = bat.mah_from_volt_and_current(self.voltage,self.current)
+ def fill_from_temp_msg(self, temp):
+ self.temperature = temp.battery
+
+ def get_volt(self):
+ return "Cell Volt = "+str(round(self.voltage,2)) + " V"
+ def get_mah_from_volt(self):
+ return "Cap(U,I) = "+str(round(self.model/1000.0,2)) + " Ah"
+ def get_current(self):
+ return "Cell Amps = "+str(round(self.current,2)) + " A"
+ def get_energy(self):
+ return "Cell mAh = "+str(round(self.energy/1000.0 ,2)) + " Ah"
+ def get_temp(self):
+ return "Cell Temp = "+str(round(self.temperature ,2))
+
+ def get_volt_perc(self):
+ return (self.voltage - 2.5) / (4.2 - 2.5);
+ def get_current_perc(self):
+ return (self.current / 10)
+ def get_energy_perc(self):
+ return (self.energy / bat.capacity)
+ def get_model_perc(self):
+ return (self.model / bat.capacity)
+ def get_temp_perc(self):
+ return (self.temperature / 60);
+
+ def get_volt_color(self):
+ if self.voltage < 3.4:
+ return 0.1
+ elif self.voltage < 3.6:
+ return 0.5
+ return 1
+
+ def get_current_color(self):
+ if self.current < 2.5:
+ return 1
+ elif self.current > 4.5:
+ return 0.1
+ return 0.5
+
+ def get_energy_color(self):
+ if self.energy > 3000:
+ return 0.1
+ elif self.energy < 2000:
+ return 1
+ return 0.5
+
+ def get_temp_color(self):
+ if (self.temperature > 20) & (self.temperature < 40):
+ return 1
+ elif (self.temperature > 10) & (self.temperature < 50):
+ return 0.1
+ return 0
+
+class EnergyMonFrame(wx.Frame):
+ def message_recv(self, ac_id, msg):
+ if msg.name == "ENERGY":
+ self.bat = EnergyMessage(msg)
+ self.cell.fill_from_energy_msg(self.bat)
+
+ wx.CallAfter(self.update)
+ elif msg.name == "TEMP_ADC":
+ self.temp = TempMessage(msg)
+ self.cell.fill_from_temp_msg(self.temp)
+ wx.CallAfter(self.update)
+
+ def update(self):
+ self.Refresh()
+
+ def OnSize(self, event):
+ self.w = event.GetSize()[0]
+ self.h = event.GetSize()[1]
+ self.Refresh()
+
+ def StatusBox(self, dc, nr, txt, percent, color):
+ if percent < 0:
+ percent = 0
+ if percent > 1:
+ percent = 1
+ boxw = self.stat
+ tdx = int(boxw * 10.0 / 300.0)
+ tdy = int(boxw * 6.0 / 300.0)
+ boxh = int(boxw * 40.0 / 300.0)
+ boxw = self.stat - 2*tdx
+ spacing = boxh+10
+
+ dc.SetPen(wx.Pen(wx.Colour(0,0,0)))
+ dc.SetBrush(wx.Brush(wx.Colour(220,220,220)))
+ dc.DrawRectangle(tdx, int(nr*spacing+tdx), int(boxw), boxh)
+ if color < 0.2:
+ dc.SetBrush(wx.Brush(wx.Colour(250,0,0)))
+ elif color < 0.6:
+ dc.SetBrush(wx.Brush(wx.Colour(250,180,0)))
+ else:
+ dc.SetBrush(wx.Brush(wx.Colour(0,250,0)))
+# dc.DrawLine(200,50,350,50)
+ dc.DrawRectangle(tdx, int(nr*spacing+tdx), int(boxw * percent), boxh)
+ dc.DrawText(txt,18,int(nr*spacing+tdy+tdx))
+
+ def plot_x(self, x):
+ return int(self.stat+self.tdx + x * (self.w-self.stat-2*self.tdx))
+
+ def plot_y(self, y):
+ return int(self.tdx + (1-y) * (self.h-self.tdx-self.tdx))
+
+ def plot(self, dc, i1, i2):
+ dc.DrawLine(self.plot_x(i1[1]/3500), self.plot_y((i1[0]-2.5)/(4.2-2.5)), self.plot_x(i2[1]/3500), self.plot_y((i2[0]-2.5)/(4.2-2.5)))
+
+ def DischargePlot(self, dc):
+ self.tdx = int(self.stat * 10.0 / 300.0)
+ dc.SetPen(wx.Pen(wx.Colour(0,0,0),1))
+ dc.SetBrush(wx.Brush(wx.Colour(250,250,250)))
+ dc.DrawRectangle(self.plot_x(0.0), self.plot_y(1.0), self.w-self.stat-2*self.tdx, self.h-2*self.tdx)
+
+ for i in range(0,5):
+ dc.DrawLine(self.plot_x(0.0), self.plot_y(i/5.0), self.plot_x(1.0), self.plot_y(i/5.0))
+ for i in range(0,7):
+ dc.DrawLine(self.plot_x(i/7.0), self.plot_y(0), self.plot_x(i/7.0), self.plot_y(1))
+
+
+ dc.SetPen(wx.Pen(wx.Colour(255,180,0),4))
+ dc.DrawLine(self.plot_x(self.cell.model/3500), self.plot_y(0), self.plot_x(self.cell.model/3500), self.plot_y(1))
+ dc.DrawLine(self.plot_x(0.0), self.plot_y(self.cell.get_volt_perc()), self.plot_x(1.0), self.plot_y(self.cell.get_volt_perc()))
+
+ thickness = 3
+ dc.SetPen(wx.Pen(wx.Colour(0,0,0),thickness))
+ li = bat.batmodel[0,[0,1]]
+ for i in bat.batmodel[:,[0,1]]:
+ self.plot(dc,li,i)
+ li=i
+
+ dc.SetPen(wx.Pen(wx.Colour(0,0,255),thickness))
+ li = bat.batmodel[0,[0,2]]
+ for i in bat.batmodel[:,[0,2]]:
+ self.plot(dc,li,i)
+ li=i
+
+ dc.SetPen(wx.Pen(wx.Colour(0,255,0),thickness))
+ li = bat.batmodel[0,[0,3]]
+ for i in bat.batmodel[:,[0,3]]:
+ self.plot(dc,li,i)
+ li=i
+
+ dc.SetPen(wx.Pen(wx.Colour(255,255,0),thickness))
+ li = bat.batmodel[0,[0,4]]
+ for i in bat.batmodel[:,[0,4]]:
+ self.plot(dc,li,i)
+ li=i
+
+ dc.SetPen(wx.Pen(wx.Colour(255,0,0),thickness))
+ li = bat.batmodel[0,[0,5]]
+ for i in bat.batmodel[:,[0,5]]:
+ self.plot(dc,li,i)
+ li=i
+
+
+ def OnPaint(self, e):
+ # Automatic Scaling
+ w = self.w
+ h = self.h
+
+ self.stat = int(w/4)
+ if self.stat<100:
+ self.stat=100
+
+ dc = wx.PaintDC(self)
+ brush = wx.Brush("white")
+ dc.SetBackground(brush)
+ dc.Clear()
+
+ # Background
+ dc.SetBrush(wx.Brush(wx.Colour(0, 0, 0), wx.TRANSPARENT))
+
+ fontscale = int(w * 11.0 / 800.0)
+ if fontscale < 6:
+ fontscale = 6
+ font = wx.Font(fontscale, wx.FONTFAMILY_ROMAN, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_BOLD)
+ dc.SetFont(font)
+
+ self.StatusBox(dc,0, self.cell.get_volt(), self.cell.get_volt_perc(), self.cell.get_volt_color())
+ self.StatusBox(dc,1, self.cell.get_current(), self.cell.get_current_perc(), self.cell.get_current_color() )
+ self.StatusBox(dc,2, self.cell.get_energy(), self.cell.get_energy_perc(), self.cell.get_energy_color() )
+ self.StatusBox(dc,3, self.cell.get_mah_from_volt(), self.cell.get_energy_perc(), self.cell.get_energy_color() )
+ self.StatusBox(dc,4, self.cell.get_temp(), self.cell.get_temp_perc(), self.cell.get_temp_color())
+
+ self.DischargePlot(dc)
+
+ def __init__(self):
+
+ self.w = WIDTH
+ self.h = WIDTH + BARH
+
+ wx.Frame.__init__(self, id=-1, parent=None, name=u'EnergyMonFrame',
+ size=wx.Size(self.w, self.h), title=u'Energy Monitoring')
+ self.Bind(wx.EVT_PAINT, self.OnPaint)
+ self.Bind(wx.EVT_SIZE, self.OnSize)
+ self.Bind(wx.EVT_CLOSE, self.OnClose)
+
+ ico = wx.Icon(PPRZ_SRC + "/sw/ground_segment/python/energy_mon/energy_mon.ico", wx.BITMAP_TYPE_ICO)
+ self.SetIcon(ico)
+
+ self.bat = {}
+ self.temp = {}
+ self.cell = BatteryCell();
+
+ self.interface = IvyMessagesInterface("energymonframe")
+ self.interface.subscribe(self.message_recv)
+
+ def OnClose(self, event):
+ self.interface.shutdown()
+ self.Destroy()