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

Merge pull request #1658 from mikeller/add_consumption_alerts 

Added battery warnings based on consumption.
This commit is contained in:
borisbstyle 2016-11-27 13:25:43 +01:00 committed by GitHub
parent ccd759d93a 1c2bbf9c1a
commit 417d27dad2
5 changed files with 119 additions and 58 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/main/fc/config.c
View File

@ -430,6 +430,9 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
batteryConfig->batteryCapacity = 0;
batteryConfig->currentMeterType = CURRENT_SENSOR_ADC;
batteryConfig->batterynotpresentlevel = 55; // VBAT below 5.5 V will be igonored
batteryConfig->useVBatAlerts = true;
batteryConfig->useConsumptionAlerts = false;
batteryConfig->consumptionWarningPercentage = 10;
}
#ifdef SWAP_SERIAL_PORT_0_AND_1_DEFAULTS

3
src/main/io/serial_cli.c
View File

@ -798,6 +798,9 @@ const clivalue_t valueTable[] = {
{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
{ "current_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.currentMeterType, .config.lookup = { TABLE_CURRENT_SENSOR } },
{ "battery_notpresent_level", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.batterynotpresentlevel, .config.minmax = { 0, 200 } },
{ "use_vbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.useVBatAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "use_consumption_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.useConsumptionAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "consumption_warning_percentage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.consumptionWarningPercentage, .config.minmax = { 0, 100 } },
{ "align_gyro", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorAlignmentConfig.gyro_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorAlignmentConfig.acc_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorAlignmentConfig.mag_align, .config.lookup = { TABLE_ALIGNMENT } },

166
src/main/sensors/battery.c
View File

@ -58,12 +58,14 @@ uint16_t batteryCriticalVoltage;
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)
uint16_t amperageLatest = 0; // most recent value
int32_t mAhDrawn = 0; // milliampere hours drawn from the battery since start
static batteryState_e batteryState;
static batteryState_e vBatState;
static batteryState_e consumptionState;
static uint16_t batteryAdcToVoltage(uint16_t src)
{
@ -74,12 +76,12 @@ static uint16_t batteryAdcToVoltage(uint16_t src)
static void updateBatteryVoltage(void)
{
static biquadFilter_t vbatFilter;
static bool vbatFilterIsInitialised;
static biquadFilter_t vBatFilter;
static bool vBatFilterIsInitialised;
if (!vbatFilterIsInitialised) {
biquadFilterInitLPF(&vbatFilter, VBAT_LPF_FREQ, 50000); //50HZ Update
vbatFilterIsInitialised = true;
if (!vBatFilterIsInitialised) {
biquadFilterInitLPF(&vBatFilter, VBAT_LPF_FREQ, 50000); //50HZ Update
vBatFilterIsInitialised = true;
}
#ifdef USE_ESC_TELEMETRY
@ -88,17 +90,17 @@ static void updateBatteryVoltage(void)
if (debugMode == DEBUG_BATTERY) {
debug[0] = -1;
}
vbat = biquadFilterApply(&vbatFilter, vbatLatest);
vbat = biquadFilterApply(&vBatFilter, vbatLatest);
}
else
#endif
{
uint16_t vbatSample = adcGetChannel(ADC_BATTERY);
uint16_t vBatSample = adcGetChannel(ADC_BATTERY);
if (debugMode == DEBUG_BATTERY) {
debug[0] = vbatSample;
debug[0] = vBatSample;
}
vbat = batteryAdcToVoltage(biquadFilterApply(&vbatFilter, vbatSample));
vbatLatest = batteryAdcToVoltage(vbatSample);
vbat = batteryAdcToVoltage(biquadFilterApply(&vBatFilter, vBatSample));
vbatLatest = batteryAdcToVoltage(vBatSample);
}
if (debugMode == DEBUG_BATTERY) {
@ -106,18 +108,35 @@ static void updateBatteryVoltage(void)
}
}
static void updateBatteryAlert(void)
{
switch(getBatteryState()) {
case BATTERY_WARNING:
beeper(BEEPER_BAT_LOW);
break;
case BATTERY_CRITICAL:
beeper(BEEPER_BAT_CRIT_LOW);
break;
case BATTERY_OK:
case BATTERY_NOT_PRESENT:
break;
}
}
void updateBattery(void)
{
uint16_t vbatPrevious = vbatLatest;
uint16_t vBatPrevious = vbatLatest;
updateBatteryVoltage();
uint16_t vbatMeasured = vbatLatest;
uint16_t vBatMeasured = vbatLatest;
/* battery has just been connected*/
if (batteryState == BATTERY_NOT_PRESENT && (ARMING_FLAG(ARMED) || (vbat > batteryConfig->batterynotpresentlevel && ABS(vbatMeasured - vbatPrevious) <= VBAT_STABLE_MAX_DELTA))) {
if (vBatState == 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;
vBatState = BATTERY_OK;
unsigned cells = (vbatMeasured / batteryConfig->vbatmaxcellvoltage) + 1;
unsigned cells = (vBatMeasured / batteryConfig->vbatmaxcellvoltage) + 1;
if (cells > 8) {
// something is wrong, we expect 8 cells maximum (and autodetection will be problematic at 6+ cells)
cells = 8;
@ -126,50 +145,55 @@ 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 - vbatPrevious) <= VBAT_STABLE_MAX_DELTA) {
batteryState = BATTERY_NOT_PRESENT;
} else if (vBatState != BATTERY_NOT_PRESENT && !ARMING_FLAG(ARMED) && vbat <= batteryConfig->batterynotpresentlevel && ABS(vBatMeasured - vBatPrevious) <= VBAT_STABLE_MAX_DELTA) {
vBatState = BATTERY_NOT_PRESENT;
batteryCellCount = 0;
batteryWarningVoltage = 0;
batteryCriticalVoltage = 0;
}
if (debugMode == DEBUG_BATTERY) {
debug[2] = batteryState;
debug[2] = vBatState;
debug[3] = batteryCellCount;
}
switch(batteryState) {
case BATTERY_OK:
if (vbat <= (batteryWarningVoltage - batteryConfig->vbathysteresis)) {
batteryState = BATTERY_WARNING;
beeper(BEEPER_BAT_LOW);
}
break;
case BATTERY_WARNING:
if (vbat <= (batteryCriticalVoltage - batteryConfig->vbathysteresis)) {
batteryState = BATTERY_CRITICAL;
beeper(BEEPER_BAT_CRIT_LOW);
} else if (vbat > batteryWarningVoltage) {
batteryState = BATTERY_OK;
} else {
beeper(BEEPER_BAT_LOW);
}
break;
case BATTERY_CRITICAL:
if (vbat > batteryCriticalVoltage) {
batteryState = BATTERY_WARNING;
beeper(BEEPER_BAT_LOW);
} else {
beeper(BEEPER_BAT_CRIT_LOW);
}
break;
case BATTERY_NOT_PRESENT:
break;
if (batteryConfig->useVBatAlerts) {
switch(vBatState) {
case BATTERY_OK:
if (vbat <= (batteryWarningVoltage - batteryConfig->vbathysteresis)) {
vBatState = BATTERY_WARNING;
}
break;
case BATTERY_WARNING:
if (vbat <= (batteryCriticalVoltage - batteryConfig->vbathysteresis)) {
vBatState = BATTERY_CRITICAL;
} else if (vbat > batteryWarningVoltage) {
vBatState = BATTERY_OK;
}
break;
case BATTERY_CRITICAL:
if (vbat > batteryCriticalVoltage) {
vBatState = BATTERY_WARNING;
}
break;
case BATTERY_NOT_PRESENT:
break;
}
updateBatteryAlert();
}
}
batteryState_e getBatteryState(void)
{
batteryState_e batteryState = BATTERY_NOT_PRESENT;
if (vBatState != BATTERY_NOT_PRESENT) {
batteryState = MAX(vBatState, consumptionState);
}
return batteryState;
}
@ -177,13 +201,14 @@ const char * const batteryStateStrings[] = {"OK", "WARNING", "CRITICAL", "NOT PR
const char * getBatteryStateString(void)
{
return batteryStateStrings[batteryState];
return batteryStateStrings[getBatteryState()];
}
void batteryInit(batteryConfig_t *initialBatteryConfig)
{
batteryConfig = initialBatteryConfig;
batteryState = BATTERY_NOT_PRESENT;
vBatState = BATTERY_NOT_PRESENT;
consumptionState = BATTERY_OK;
batteryCellCount = 0;
batteryWarningVoltage = 0;
batteryCriticalVoltage = 0;
@ -201,22 +226,25 @@ static int32_t currentSensorToCentiamps(uint16_t src)
static void updateBatteryCurrent(void)
{
static biquadFilter_t ibatFilter;
static bool ibatFilterIsInitialised;
static biquadFilter_t iBatFilter;
static bool iBatFilterIsInitialised;
if (!ibatFilterIsInitialised) {
biquadFilterInitLPF(&ibatFilter, IBAT_LPF_FREQ, 50000); //50HZ Update
ibatFilterIsInitialised = true;
if (!iBatFilterIsInitialised) {
biquadFilterInitLPF(&iBatFilter, IBAT_LPF_FREQ, 50000); //50HZ Update
iBatFilterIsInitialised = true;
}
uint16_t ibatSample = adcGetChannel(ADC_CURRENT);
amperage = currentSensorToCentiamps(biquadFilterApply(&ibatFilter, ibatSample));
uint16_t iBatSample = adcGetChannel(ADC_CURRENT);
amperage = currentSensorToCentiamps(biquadFilterApply(&iBatFilter, iBatSample));
amperageLatest = currentSensorToCentiamps(iBatSample);
}
static void updateCurrentDrawn(int32_t lastUpdateAt)
{
int mAhDrawnRaw = (amperage * lastUpdateAt) / 1000;
mAhDrawn = mAhDrawn + mAhDrawnRaw / (3600 * 100);
static float mAhDrawnF = 0.0f; // used to get good enough resolution
mAhDrawnF = mAhDrawnF + (amperage * lastUpdateAt / (100.0f * 1000 * 3600));
mAhDrawn = mAhDrawnF;
}
void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
@ -257,6 +285,28 @@ void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t dea
break;
}
if (batteryConfig->useConsumptionAlerts) {
switch(consumptionState) {
case BATTERY_OK:
if (calculateBatteryCapacityRemainingPercentage() <= batteryConfig->consumptionWarningPercentage) {
consumptionState = BATTERY_WARNING;
}
break;
case BATTERY_WARNING:
if (calculateBatteryCapacityRemainingPercentage() == 0) {
vBatState = BATTERY_CRITICAL;
}
break;
case BATTERY_CRITICAL:
case BATTERY_NOT_PRESENT:
break;
}
updateBatteryAlert();
}
}
float calculateVbatPidCompensation(void) {

3
src/main/sensors/battery.h
View File

@ -60,6 +60,9 @@ typedef struct batteryConfig_s {
uint8_t multiwiiCurrentMeterOutput; // if set to 1 output the amperage in milliamp steps instead of 0.01A steps via msp
uint16_t batteryCapacity; // mAh
uint8_t batterynotpresentlevel; // Below this level battery is considered as not present
bool useVBatAlerts; // Issue alerts based on VBat readings
bool useConsumptionAlerts; // Issue alerts based on total power consumption
uint8_t consumptionWarningPercentage; // Percentage of remaining capacity that should trigger a battery warning
} batteryConfig_t;
typedef enum {

2
src/main/target/NAZE/target.h
View File

@ -20,6 +20,8 @@
#define TARGET_CONFIG
#define USE_HARDWARE_REVISION_DETECTION
#define CLI_MINIMAL_VERBOSITY
#define BOARD_HAS_VOLTAGE_DIVIDER
#define LED0 PB3