ina238: increase retries and only publish not connected if register c…

…heck fails
PX4 · Jan 6, 2025 · 8da3c6d · 8da3c6d
1 parent 76da62a
commit 8da3c6d
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Showing 3 changed files with 12 additions and 5 deletions.
diff --git a/boards/ark/fpv/extras/ark_fpv_bootloader.bin b/boards/ark/fpv/extras/ark_fpv_bootloader.bin
diff --git a/boards/ark/fpv/src/board_config.h b/boards/ark/fpv/src/board_config.h
@@ -176,6 +176,9 @@
 
 #define BOARD_BATTERY1_V_DIV	 (21.0f) // (20k + 1k) / 1k = 21
 
+#define BOARD_BATTERY_ADC_VOLTAGE_FILTER_S 0.075f
+#define BOARD_BATTERY_ADC_CURRENT_FILTER_S 0.125f
+
 #define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */

diff --git a/src/drivers/power_monitor/ina238/ina238.cpp b/src/drivers/power_monitor/ina238/ina238.cpp
@@ -98,7 +98,7 @@ int INA238::read(uint8_t address, uint16_t &data)
 	uint16_t received_bytes;
 	int ret = PX4_ERROR;
 
-	for (size_t i = 0; i < 3; i++) {
+	for (size_t i = 0; i < 6; i++) {
 		ret = transfer(&address, 1, (uint8_t *)&received_bytes, sizeof(received_bytes));
 
 		if (ret == PX4_OK) {
@@ -240,6 +240,10 @@ int INA238::collect()
 		_battery.updateVoltage(static_cast<float>(bus_voltage * INA238_VSCALE));
 		_battery.updateCurrent(static_cast<float>(current * _current_lsb));
 		_battery.updateTemperature(static_cast<float>(temperature * INA238_TSCALE));
+
+		_battery.setConnected(success);
+
+		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 	}
 
 	if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
@@ -253,12 +257,12 @@ int INA238::collect()
 			PX4_DEBUG("register check failed");
 			perf_count(_bad_register_perf);
 			success = false;
-		}
-	}
 
-	_battery.setConnected(success);
+			_battery.setConnected(success);
 
-	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
+			_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
+		}
+	}
 
 	perf_end(_sample_perf);