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Use filtered throttle for battery voltage compensation #9055

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merged 2 commits into from
Apr 10, 2018
Merged

Use filtered throttle for battery voltage compensation #9055

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b1d2097
Use filtered throttle for battery estimation instead of raw.
nanthony21 Mar 11, 2018
940b453
Fix formatting
nanthony21 Mar 11, 2018
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19 changes: 16 additions & 3 deletions src/modules/systemlib/battery.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,9 +86,10 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
reset(battery_status);
battery_status->timestamp = timestamp;
filterVoltage(voltage_v);
filterThrottle(throttle_normalized);
filterCurrent(current_a);
sumDischarged(timestamp, current_a);
estimateRemaining(_voltage_filtered_v, _current_filtered_a, throttle_normalized, armed);
estimateRemaining(_voltage_filtered_v, _current_filtered_a, _throttle_filtered, armed);
computeScale();

if (_battery_initialized) {
Expand Down Expand Up @@ -141,6 +142,18 @@ Battery::filterCurrent(float current_a)
}
}

void Battery::filterThrottle(float throttle)
{
if (!_battery_initialized) {
_throttle_filtered = throttle;
}

const float filtered_next = _throttle_filtered * 0.99f + throttle * 0.01f;

if (PX4_ISFINITE(filtered_next)) {
_throttle_filtered = filtered_next;
}
}

void
Battery::sumDischarged(hrt_abstime timestamp, float current_a)
Expand All @@ -165,7 +178,7 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
}

void
Battery::estimateRemaining(float voltage_v, float current_a, float throttle_normalized, bool armed)
Battery::estimateRemaining(float voltage_v, float current_a, float throttle, bool armed)
{
// remaining battery capacity based on voltage
float cell_voltage = voltage_v / _n_cells.get();
Expand All @@ -176,7 +189,7 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm

} else {
// assume linear relation between throttle and voltage drop
cell_voltage += throttle_normalized * _v_load_drop.get();
cell_voltage += throttle * _v_load_drop.get();
}

_remaining_voltage = math::gradual(cell_voltage, _v_empty.get(), _v_charged.get(), 0.f, 1.f);
Expand Down
4 changes: 3 additions & 1 deletion src/modules/systemlib/battery.h
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Original file line number Diff line number Diff line change
Expand Up @@ -97,9 +97,10 @@ class Battery : public control::SuperBlock

private:
void filterVoltage(float voltage_v);
void filterThrottle(float throttle);
void filterCurrent(float current_a);
void sumDischarged(hrt_abstime timestamp, float current_a);
void estimateRemaining(float voltage_v, float current_a, float throttle_normalized, bool armed);
void estimateRemaining(float voltage_v, float current_a, float throttle, bool armed);
void determineWarning(bool connected);
void computeScale();

Expand All @@ -115,6 +116,7 @@ class Battery : public control::SuperBlock

bool _battery_initialized = false;
float _voltage_filtered_v = -1.f;
float _throttle_filtered = -1.f;
float _current_filtered_a = -1.f;
float _discharged_mah = 0.f;
float _discharged_mah_loop = 0.f;
Expand Down