rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fixed cell calculation when ESC telemetry is enabled

This commit is contained in:
Bas Delfos 2016-11-17 21:50:00 +01:00
parent a3da6e3288
commit 0df4c63132
3 changed files with 31 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/main/blackbox/blackbox.c
View File

@ -808,7 +808,7 @@ void startBlackbox(void)
blackboxHistory[1] = &blackboxHistoryRing[1];
blackboxHistory[2] = &blackboxHistoryRing[2];
vbatReference = vbatLatestADC;
vbatReference = vbatLatest;
//No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
@ -1005,8 +1005,8 @@ static void loadMainState(uint32_t currentTime)
blackboxCurrent->motor[i] = motor[i];
}
blackboxCurrent->vbatLatest = vbatLatestADC;
blackboxCurrent->amperageLatest = amperageLatestADC;
blackboxCurrent->vbatLatest = vbatLatest;
blackboxCurrent->amperageLatest = amperageLatest;
#ifdef MAG
for (i = 0; i < XYZ_AXIS_COUNT; i++) {
@ -1625,4 +1625,3 @@ void initBlackbox(void)
}
}
#endif

51
src/main/sensors/battery.c
View File

@ -51,9 +51,9 @@ uint8_t batteryCellCount;
uint16_t batteryWarningVoltage;
uint16_t batteryCriticalVoltage;
uint16_t vbat = 0; // battery voltage in 0.1V steps (filtered)
uint16_t vbatLatestADC = 0; // most recent unsmoothed raw reading from vbat ADC
uint16_t amperageLatestADC = 0; // most recent raw reading from current ADC
uint16_t vbat = 0; // battery voltage in 0.1V steps (filtered)
uint16_t vbatLatest = 0; // most recent unsmoothed value
uint16_t amperageLatest = 0; // most recent value
int32_t amperage = 0; // amperage read by current sensor in centiampere (1/100th A)
int32_t mAhDrawn = 0; // milliampere hours drawn from the battery since start
@ -69,18 +69,18 @@ static uint16_t batteryAdcToVoltage(uint16_t src)
static void updateBatteryVoltage(void)
{
#ifdef USE_ESC_TELEMETRY
if (batteryConfig->batteryMeterType == BATTERY_SENSOR_ESC && isEscTelemetryActive()) {
vbat = getEscTelemetryVbat();
return;
}
#endif
static biquadFilter_t vbatFilter;
static bool vbatFilterIsInitialised;
// store the battery voltage with some other recent battery voltage readings
uint16_t vbatSample = vbatLatestADC = adcGetChannel(ADC_BATTERY);
uint16_t vbatSample;
if (batteryConfig->batteryMeterType == BATTERY_SENSOR_ESC && isEscTelemetryActive()) {
vbatSample = vbatLatest = getEscTelemetryVbat();
}
else {
vbatSample = vbatLatest = batteryAdcToVoltage(adcGetChannel(ADC_BATTERY));
}
if (debugMode == DEBUG_BATTERY) debug[0] = vbatSample;
@ -88,8 +88,7 @@ static void updateBatteryVoltage(void)
biquadFilterInitLPF(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
vbatFilterIsInitialised = true;
}
vbatSample = biquadFilterApply(&vbatFilter, vbatSample);
vbat = batteryAdcToVoltage(vbatSample);
vbat = biquadFilterApply(&vbatFilter, vbatSample);
if (debugMode == DEBUG_BATTERY) debug[1] = vbat;
}
@ -98,12 +97,12 @@ static void updateBatteryVoltage(void)
void updateBattery(void)
{
uint16_t vbatPreviousADC = vbatLatestADC;
uint16_t vbatPrevious = vbatLatest;
updateBatteryVoltage();
uint16_t vbatMeasured = batteryAdcToVoltage(vbatLatestADC);
uint16_t vbatMeasured = vbatLatest;
/* battery has just been connected*/
if (batteryState == BATTERY_NOT_PRESENT && (ARMING_FLAG(ARMED) || (vbat > batteryConfig->batterynotpresentlevel && ABS(vbatMeasured - batteryAdcToVoltage(vbatPreviousADC)) <= VBAT_STABLE_MAX_DELTA))) {
if (batteryState == BATTERY_NOT_PRESENT && (ARMING_FLAG(ARMED) || (vbat > batteryConfig->batterynotpresentlevel && ABS(vbatMeasured - vbatPrevious) <= VBAT_STABLE_MAX_DELTA))) {
/* Actual battery state is calculated below, this is really BATTERY_PRESENT */
batteryState = BATTERY_OK;
@ -116,13 +115,16 @@ void updateBattery(void)
batteryWarningVoltage = batteryCellCount * batteryConfig->vbatwarningcellvoltage;
batteryCriticalVoltage = batteryCellCount * batteryConfig->vbatmincellvoltage;
/* battery has been disconnected - can take a while for filter cap to disharge so we use a threshold of batteryConfig->batterynotpresentlevel */
} else if (batteryState != BATTERY_NOT_PRESENT && !ARMING_FLAG(ARMED) && vbat <= batteryConfig->batterynotpresentlevel && ABS(vbatMeasured - batteryAdcToVoltage(vbatPreviousADC)) <= VBAT_STABLE_MAX_DELTA) {
} else if (batteryState != BATTERY_NOT_PRESENT && !ARMING_FLAG(ARMED) && vbat <= batteryConfig->batterynotpresentlevel && ABS(vbatMeasured - vbatPrevious) <= VBAT_STABLE_MAX_DELTA) {
batteryState = BATTERY_NOT_PRESENT;
batteryCellCount = 0;
batteryWarningVoltage = 0;
batteryCriticalVoltage = 0;
}
if (debugMode == DEBUG_BATTERY) debug[2] = batteryState;
if (debugMode == DEBUG_BATTERY) debug[3] = batteryCellCount;
switch(batteryState)
{
case BATTERY_OK:
@ -202,8 +204,8 @@ void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t dea
switch(batteryConfig->currentMeterType) {
case CURRENT_SENSOR_ADC:
amperageRaw -= amperageRaw / 8;
amperageRaw += (amperageLatestADC = adcGetChannel(ADC_CURRENT));
amperage = currentSensorToCentiamps(amperageRaw / 8);
amperageRaw += adcGetChannel(ADC_CURRENT);
amperage = amperageLatest = currentSensorToCentiamps(amperageRaw / 8);
break;
case CURRENT_SENSOR_VIRTUAL:
amperage = (int32_t)batteryConfig->currentMeterOffset;
@ -220,16 +222,15 @@ void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t dea
break;
case CURRENT_SENSOR_ESC:
#ifdef USE_ESC_TELEMETRY
amperage = getEscTelemetryCurrent();
if (batteryConfig->currentMeterType == CURRENT_SENSOR_ESC && isEscTelemetryActive()) {
amperage = getEscTelemetryCurrent();
mAhDrawn = getEscTelemetryConsumption();
}
#endif
break;
}
#ifdef USE_ESC_TELEMETRY
if (batteryConfig->currentMeterType == CURRENT_SENSOR_ESC) {
mAhDrawn = getEscTelemetryConsumption();
}
#else
#ifndef USE_ESC_TELEMETRY
mAhdrawnRaw += (amperage * lastUpdateAt) / 1000;
mAhDrawn = mAhdrawnRaw / (3600 * 100);
#endif

4
src/main/sensors/battery.h
View File

@ -71,10 +71,10 @@ typedef enum {
extern uint16_t vbat;
extern uint16_t vbatRaw;
extern uint16_t vbatLatestADC;
extern uint16_t vbatLatest;
extern uint8_t batteryCellCount;
extern uint16_t batteryWarningVoltage;
extern uint16_t amperageLatestADC;
extern uint16_t amperageLatest;
extern int32_t amperage;
extern int32_t mAhDrawn;