#include <battery.h>

Inheritance diagram for Battery:

Collaboration diagram for Battery:

Public Member Functions
	Battery ()

void	reset (battery_status_s *battery_status)
	Reset all battery stats and report invalid/nothing. More...

int	cell_count ()
	Get the battery cell count. More...

float	empty_cell_voltage ()
	Get the empty voltage per cell. More...

float	full_cell_voltage ()
	Get the full voltage per cell. More...

void	updateBatteryStatus (hrt_abstime timestamp, float voltage_v, float current_a, bool connected, bool selected_source, int priority, float throttle_normalized, bool armed, battery_status_s *status)
	Update current battery status message. More...

Private Member Functions
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, bool armed)

void	determineWarning (bool connected)

void	computeScale ()

	DEFINE_PARAMETERS ((ParamFloat< px4::params::BAT_V_EMPTY >) _param_bat_v_empty,(ParamFloat< px4::params::BAT_V_CHARGED >) _param_bat_v_charged,(ParamInt< px4::params::BAT_N_CELLS >) _param_bat_n_cells,(ParamFloat< px4::params::BAT_CAPACITY >) _param_bat_capacity,(ParamFloat< px4::params::BAT_V_LOAD_DROP >) _param_bat_v_load_drop,(ParamFloat< px4::params::BAT_R_INTERNAL >) _param_bat_r_internal,(ParamFloat< px4::params::BAT_LOW_THR >) _param_bat_low_thr,(ParamFloat< px4::params::BAT_CRIT_THR >) _param_bat_crit_thr,(ParamFloat< px4::params::BAT_EMERGEN_THR >) _param_bat_emergen_thr) bool _battery_initialized

Private Attributes
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

float	_remaining_voltage = -1.f
	normalized battery charge level remaining based on voltage More...

float	_remaining = -1.f
	normalized battery charge level, selected based on config param More...

float	_scale = 1.f

uint8_t	_warning

hrt_abstime	_last_timestamp

Detailed Description

Definition at line 49 of file battery.h.

Constructor & Destructor Documentation

◆ Battery()

Battery::Battery ( )

Definition at line 47 of file battery.cpp.

Member Function Documentation

◆ cell_count()

int Battery::cell_count ( )

inline

Get the battery cell count.

Definition at line 62 of file battery.h.

◆ computeScale()

void Battery::computeScale ( )

private

Definition at line 226 of file battery.cpp.

References _remaining_voltage, _scale, and f().

Referenced by full_cell_voltage(), and updateBatteryStatus().

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◆ DEFINE_PARAMETERS()

Battery::DEFINE_PARAMETERS	(	(ParamFloat< px4::params::BAT_V_EMPTY >)	_param_bat_v_empty,
		(ParamFloat< px4::params::BAT_V_CHARGED >)	_param_bat_v_charged,
		(ParamInt< px4::params::BAT_N_CELLS >)	_param_bat_n_cells,
		(ParamFloat< px4::params::BAT_CAPACITY >)	_param_bat_capacity,
		(ParamFloat< px4::params::BAT_V_LOAD_DROP >)	_param_bat_v_load_drop,
		(ParamFloat< px4::params::BAT_R_INTERNAL >)	_param_bat_r_internal,
		(ParamFloat< px4::params::BAT_LOW_THR >)	_param_bat_low_thr,
		(ParamFloat< px4::params::BAT_CRIT_THR >)	_param_bat_crit_thr,
		(ParamFloat< px4::params::BAT_EMERGEN_THR >)	_param_bat_emergen_thr
	)

private

Referenced by full_cell_voltage().

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◆ determineWarning()

void Battery::determineWarning ( bool connected )

private

Definition at line 209 of file battery.cpp.

References _remaining, and _warning.

Referenced by full_cell_voltage(), and updateBatteryStatus().

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◆ empty_cell_voltage()

float Battery::empty_cell_voltage ( )

inline

Get the empty voltage per cell.

Definition at line 67 of file battery.h.

◆ estimateRemaining()

void Battery::estimateRemaining	(	float	voltage_v,
		float	current_a,
		float	throttle,
		bool	armed
	)

private

Definition at line 170 of file battery.cpp.

References _discharged_mah_loop, _remaining, _remaining_voltage, f(), math::gradual(), and math::max().

Referenced by full_cell_voltage(), and updateBatteryStatus().

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◆ filterCurrent()

void Battery::filterCurrent ( float current_a )

private

Definition at line 120 of file battery.cpp.

References _current_filtered_a.

Referenced by full_cell_voltage(), and updateBatteryStatus().

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◆ filterThrottle()

void Battery::filterThrottle ( float throttle )

private

Definition at line 134 of file battery.cpp.

References _throttle_filtered.

Referenced by full_cell_voltage(), and updateBatteryStatus().

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◆ filterVoltage()

void Battery::filterVoltage ( float voltage_v )

private

Definition at line 105 of file battery.cpp.

References _voltage_filtered_v.

Referenced by full_cell_voltage(), and updateBatteryStatus().

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◆ full_cell_voltage()

float Battery::full_cell_voltage ( )

inline

Get the full voltage per cell.

Definition at line 72 of file battery.h.

References armed, computeScale(), DEFINE_PARAMETERS(), determineWarning(), estimateRemaining(), filterCurrent(), filterThrottle(), filterVoltage(), hrt_abstime, status, sumDischarged(), and updateBatteryStatus().

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◆ reset()

void Battery::reset ( battery_status_s * battery_status )

Reset all battery stats and report invalid/nothing.

Definition at line 55 of file battery.cpp.

References battery_status_s::cell_count, battery_status_s::connected, battery_status_s::current_a, battery_status_s::remaining, battery_status_s::scale, and battery_status_s::warning.

Referenced by DfLtc2946Wrapper::DfLtc2946Wrapper(), VOXLPM::init(), and updateBatteryStatus().

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◆ sumDischarged()

void Battery::sumDischarged	(	hrt_abstime	timestamp,
		float	current_a
	)

private

Definition at line 148 of file battery.cpp.

References _discharged_mah, _discharged_mah_loop, _last_timestamp, dt, and f().

Referenced by full_cell_voltage(), and updateBatteryStatus().

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◆ updateBatteryStatus()

void Battery::updateBatteryStatus	(	hrt_abstime	timestamp,
		float	voltage_v,
		float	current_a,
		bool	connected,
		bool	selected_source,
		int	priority,
		float	throttle_normalized,
		bool	armed,
		battery_status_s *	status
	)

Update current battery status message.

Parameters

voltage_v	current voltage in V
current_a	current current in A
connected	Battery is connected
selected_source	This battery is on the brick that the selected source for selected_source
priority	The brick number -1. The term priority refers to the Vn connection on the LTC4417
throttle_normalized	throttle from 0 to 1

Definition at line 68 of file battery.cpp.

Referenced by DfLtc2946Wrapper::_publish(), DfBebopBusWrapper::_publish(), BatteryStatus::adc_poll(), full_cell_voltage(), and VOXLPM::measure().

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Member Data Documentation

◆ _current_filtered_a

float Battery::_current_filtered_a = -1.f

private

Definition at line 113 of file battery.h.

Referenced by filterCurrent(), and updateBatteryStatus().

◆ _discharged_mah

float Battery::_discharged_mah = 0.f

private

Definition at line 114 of file battery.h.

Referenced by sumDischarged(), and updateBatteryStatus().

◆ _discharged_mah_loop

float Battery::_discharged_mah_loop = 0.f

private

Definition at line 115 of file battery.h.

Referenced by estimateRemaining(), and sumDischarged().

◆ _last_timestamp

hrt_abstime Battery::_last_timestamp

private

Definition at line 120 of file battery.h.

Referenced by sumDischarged().

◆ _remaining

float Battery::_remaining = -1.f

private

normalized battery charge level, selected based on config param

Definition at line 117 of file battery.h.

Referenced by determineWarning(), estimateRemaining(), and updateBatteryStatus().

◆ _remaining_voltage

float Battery::_remaining_voltage = -1.f

private

normalized battery charge level remaining based on voltage

Definition at line 116 of file battery.h.

Referenced by computeScale(), and estimateRemaining().

◆ _scale

float Battery::_scale = 1.f

private

Definition at line 118 of file battery.h.

Referenced by computeScale(), and updateBatteryStatus().

◆ _throttle_filtered

float Battery::_throttle_filtered = -1.f

private

Definition at line 112 of file battery.h.

Referenced by filterThrottle(), and updateBatteryStatus().

◆ _voltage_filtered_v

float Battery::_voltage_filtered_v = -1.f

private

Definition at line 111 of file battery.h.

Referenced by filterVoltage(), and updateBatteryStatus().

◆ _warning

uint8_t Battery::_warning

private

Definition at line 119 of file battery.h.

Referenced by determineWarning(), and updateBatteryStatus().

The documentation for this class was generated from the following files:

src/lib/battery/battery.h
src/lib/battery/battery.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Battery()

Member Function Documentation

◆ cell_count()

◆ computeScale()

◆ DEFINE_PARAMETERS()

◆ determineWarning()

◆ empty_cell_voltage()

◆ estimateRemaining()

◆ filterCurrent()

◆ filterThrottle()

◆ filterVoltage()

◆ full_cell_voltage()

◆ reset()

◆ sumDischarged()

◆ updateBatteryStatus()

Member Data Documentation

◆ _current_filtered_a

◆ _discharged_mah

◆ _discharged_mah_loop

◆ _last_timestamp

◆ _remaining

◆ _remaining_voltage

◆ _scale

◆ _throttle_filtered

◆ _voltage_filtered_v

◆ _warning