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Merge pull request #5135 from codecae/battery_telemetry_init_fix 

Corrected issue with telemetry init when battery cell estimation is undefined
This commit is contained in:
Michael Keller 2018-02-11 13:24:12 +13:00 committed by GitHub
parent 81e75badf3 3a7540e042
commit 8a95474bff
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 56 additions and 38 deletions
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6
src/main/sensors/battery.c
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@ -450,9 +450,9 @@ void batteryUpdateAlarms(void)
}
}
bool isBatteryVoltageAvailable(void)
bool isBatteryVoltageConfigured(void)
{
return batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE && getBatteryCellCount() > 0;
return batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
}
uint16_t getBatteryVoltage(void)
@ -475,7 +475,7 @@ uint16_t getBatteryAverageCellVoltage(void)
return voltageMeter.filtered / batteryCellCount;
}
bool isAmperageAvailable(void)
bool isAmperageConfigured(void)
{
return batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
}

4
src/main/sensors/battery.h
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@ -77,13 +77,13 @@ struct rxConfig_s;
float calculateVbatPidCompensation(void);
uint8_t calculateBatteryPercentageRemaining(void);
bool isBatteryVoltageAvailable(void);
bool isBatteryVoltageConfigured(void);
uint16_t getBatteryVoltage(void);
uint16_t getBatteryVoltageLatest(void);
uint8_t getBatteryCellCount(void);
uint16_t getBatteryAverageCellVoltage(void);
bool isAmperageAvailable(void);
bool isAmperageConfigured(void);
int32_t getAmperage(void);
int32_t getAmperageLatest(void);
int32_t getMAhDrawn(void);

2
src/main/telemetry/crsf.c
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@ -399,7 +399,7 @@ void initCrsfTelemetry(void)
if (sensors(SENSOR_ACC)) {
crsfSchedule[index++] = BV(CRSF_FRAME_ATTITUDE_INDEX);
}
if (isBatteryVoltageAvailable() || isAmperageAvailable()) {
if (isBatteryVoltageConfigured() || isAmperageConfigured()) {
crsfSchedule[index++] = BV(CRSF_FRAME_BATTERY_SENSOR_INDEX);
}
crsfSchedule[index++] = BV(CRSF_FRAME_FLIGHT_MODE_INDEX);

43
src/main/telemetry/frsky_hub.c
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@ -352,22 +352,26 @@ static void sendVario(void)
static void sendVoltageCells(void)
{
static uint16_t currentCell;
uint32_t cellVoltage = 0;
const uint8_t cellCount = getBatteryCellCount();
uint8_t cellCount = getBatteryCellCount();
currentCell %= cellCount;
/*
* Format for Voltage Data for single cells is like this:
*
* llll llll cccc hhhh
* l: Low voltage bits
* h: High voltage bits
* c: Cell number (starting at 0)
*
* The actual value sent for cell voltage has resolution of 0.002 volts
* Since vbat has resolution of 0.1 volts it has to be multiplied by 50
*/
uint32_t cellVoltage = ((uint32_t)getBatteryVoltage() * 100 + cellCount) / (cellCount * 2);
if (cellCount) {
currentCell %= cellCount;
/*
* Format for Voltage Data for single cells is like this:
*
* llll llll cccc hhhh
* l: Low voltage bits
* h: High voltage bits
* c: Cell number (starting at 0)
*
* The actual value sent for cell voltage has resolution of 0.002 volts
* Since vbat has resolution of 0.1 volts it has to be multiplied by 50
*/
cellVoltage = ((uint32_t)getBatteryVoltage() * 100 + cellCount) / (cellCount * 2);
} else {
currentCell = 0;
}
// Cell number is at bit 9-12
uint16_t data = (currentCell << 4);
@ -389,6 +393,7 @@ static void sendVoltageCells(void)
static void sendVoltageAmp(void)
{
uint16_t voltage = getBatteryVoltage();
const uint8_t cellCount = getBatteryCellCount();
if (telemetryConfig()->frsky_vfas_precision == FRSKY_VFAS_PRECISION_HIGH) {
// Use new ID 0x39 to send voltage directly in 0.1 volts resolution
@ -396,8 +401,8 @@ static void sendVoltageAmp(void)
} else {
// send in 0.2 volts resolution
voltage *= 110 / 21;
if (telemetryConfig()->report_cell_voltage) {
voltage /= getBatteryCellCount();
if (telemetryConfig()->report_cell_voltage && cellCount) {
voltage /= cellCount;
}
frSkyHubWriteFrame(ID_VOLTAGE_AMP_BP, voltage / 100);
@ -554,11 +559,11 @@ void processFrSkyHubTelemetry(timeUs_t currentTimeUs)
sendTemperature1();
sendThrottleOrBatterySizeAsRpm();
if (isBatteryVoltageAvailable()) {
if (isBatteryVoltageConfigured()) {
sendVoltageCells();
sendVoltageAmp();
if (isAmperageAvailable()) {
if (isAmperageConfigured()) {
sendAmperage();
sendFuelLevel();
}

16
src/main/telemetry/mavlink.c
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@ -208,6 +208,16 @@ void mavlinkSendSystemStatus(void)
if (sensors(SENSOR_BARO)) onboardControlAndSensors |= 8200;
if (sensors(SENSOR_GPS)) onboardControlAndSensors |= 16416;
uint16_t batteryVoltage = 0;
int16_t batteryAmperage = -1;
int8_t batteryRemaining = 100;
if (getBatteryState() < BATTERY_NOT_PRESENT) {
batteryVoltage = isBatteryVoltageConfigured() ? getBatteryVoltage() * 100 : batteryVoltage;
batteryAmperage = isAmperageConfigured() ? getAmperage() : batteryAmperage;
batteryRemaining = isBatteryVoltageConfigured() ? calculateBatteryPercentageRemaining() : batteryRemaining;
}
mavlink_msg_sys_status_pack(0, 200, &mavMsg,
// onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present.
//Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure,
@ -222,11 +232,11 @@ void mavlinkSendSystemStatus(void)
// load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
0,
// voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
isBatteryVoltageAvailable() ? getBatteryVoltage() * 100 : 0,
batteryVoltage,
// current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
isAmperageAvailable() ? getAmperage() : -1,
batteryAmperage,
// battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
isBatteryVoltageAvailable() ? calculateBatteryPercentageRemaining() : 100,
batteryRemaining,
// drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
0,
// errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)

15
src/main/telemetry/smartport.c
View File

@ -376,10 +376,11 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
switch (id) {
case FSSP_DATAID_VFAS :
if (isBatteryVoltageAvailable()) {
if (isBatteryVoltageConfigured()) {
uint16_t vfasVoltage;
if (telemetryConfig()->report_cell_voltage) {
vfasVoltage = getBatteryVoltage() / getBatteryCellCount();
const uint8_t cellCount = getBatteryCellCount();
vfasVoltage = cellCount ? getBatteryVoltage() / cellCount : 0;
} else {
vfasVoltage = getBatteryVoltage();
}
@ -388,7 +389,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
}
break;
case FSSP_DATAID_CURRENT :
if (isAmperageAvailable()) {
if (isAmperageConfigured()) {
smartPortSendPackage(id, getAmperage() / 10); // given in 10mA steps, unknown requested unit
*clearToSend = false;
}
@ -401,7 +402,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
}
break;
case FSSP_DATAID_FUEL :
if (isAmperageAvailable()) {
if (isAmperageConfigured()) {
smartPortSendPackage(id, getMAhDrawn()); // given in mAh, unknown requested unit
*clearToSend = false;
}
@ -563,8 +564,10 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
break;
#endif
case FSSP_DATAID_A4 :
if (isBatteryVoltageAvailable()) {
smartPortSendPackage(id, getBatteryVoltage() * 10 / getBatteryCellCount()); // given in 0.1V, convert to volts
if (isBatteryVoltageConfigured()) {
const uint8_t cellCount = getBatteryCellCount();
const uint32_t vfasVoltage = cellCount ? (getBatteryVoltage() * 10 / cellCount) : 0; // given in 0.1V, convert to volts
smartPortSendPackage(id, vfasVoltage);
*clearToSend = false;
}
break;

4
src/test/unit/telemetry_crsf_msp_unittest.cc
View File

@ -254,11 +254,11 @@ extern "C" {
uint32_t micros(void) {return dummyTimeUs;}
serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) {return NULL;}
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
bool isBatteryVoltageAvailable(void) { return true; }
bool isBatteryVoltageConfigured(void) { return true; }
uint16_t getBatteryVoltage(void) {
return testBatteryVoltage;
}
bool isAmperageAvailable(void) { return true; }
bool isAmperageConfigured(void) { return true; }
int32_t getAmperage(void) {
return testAmperage;
}

4
src/test/unit/telemetry_crsf_unittest.cc
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@ -336,7 +336,7 @@ int32_t getMAhDrawn(void){
bool sendMspReply(uint8_t, mspResponseFnPtr) { return false; }
bool handleMspFrame(uint8_t *, int) { return false; }
void crsfScheduleMspResponse(void) {};
bool isBatteryVoltageAvailable(void) { return true; }
bool isAmperageAvailable(void) { return true; }
bool isBatteryVoltageConfigured(void) { return true; }
bool isAmperageConfigured(void) { return true; }
}