Add virtual current sensor support
Virtual current sensor calculates an estimate of current based on throttle position, current_meter_scale, and current_meter_offset. Documentation to follow later.
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@ -108,7 +108,7 @@ profile_t *currentProfile;
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static uint8_t currentControlRateProfileIndex = 0;
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controlRateConfig_t *currentControlRateProfile;
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static const uint8_t EEPROM_CONF_VERSION = 88;
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static const uint8_t EEPROM_CONF_VERSION = 89;
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static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
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{
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@ -305,7 +305,7 @@ const clivalue_t valueTable[] = {
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{ "current_meter_scale", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterScale, 1, 10000 },
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{ "current_meter_offset", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterOffset, 0, 1650 },
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{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, 0, 1 },
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{ "current_meter_type", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterType, 0, CURRENT_SENSOR_MAX },
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{ "align_gyro", VAR_UINT8 | MASTER_VALUE, &masterConfig.sensorAlignmentConfig.gyro_align, 0, 8 },
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{ "align_acc", VAR_UINT8 | MASTER_VALUE, &masterConfig.sensorAlignmentConfig.acc_align, 0, 8 },
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@ -20,9 +20,14 @@
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#include "common/maths.h"
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#include "config/runtime_config.h"
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#include "drivers/adc.h"
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#include "drivers/system.h"
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#include "rx/rx.h"
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#include "io/rc_controls.h"
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#include "sensors/battery.h"
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// Battery monitoring stuff
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@ -112,13 +117,29 @@ void updateCurrentMeter(int32_t lastUpdateAt)
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{
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static int32_t amperageRaw = 0;
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static int64_t mAhdrawnRaw = 0;
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int32_t throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
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int32_t throttleFactor = 0;
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amperageRaw -= amperageRaw / 8;
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amperageRaw += adcGetChannel(ADC_CURRENT);
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amperage = currentSensorToCentiamps(amperageRaw / 8);
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switch(batteryConfig->currentMeterType) {
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case CURRENT_SENSOR_ADC:
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amperageRaw -= amperageRaw / 8;
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amperageRaw += adcGetChannel(ADC_CURRENT);
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amperage = currentSensorToCentiamps(amperageRaw / 8);
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break;
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case CURRENT_SENSOR_VIRTUAL:
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amperage = (int32_t)batteryConfig->currentMeterOffset;
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if(ARMING_FLAG(ARMED)) {
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throttleFactor = throttleOffset + (throttleOffset * throttleOffset / 50);
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amperage += throttleFactor * (int32_t)batteryConfig->currentMeterScale / 1000;
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}
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break;
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case CURRENT_SENSOR_NONE:
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amperage = 0;
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break;
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}
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mAhdrawnRaw += (amperage * lastUpdateAt) / 1000;
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mAhDrawn = mAhdrawnRaw / (3600 * 100);
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mAhdrawnRaw += (amperage * lastUpdateAt) / 1000;
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mAhDrawn = mAhdrawnRaw / (3600 * 100);
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}
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uint8_t calculateBatteryPercentage(void)
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@ -20,6 +20,15 @@
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#define VBAT_SCALE_DEFAULT 110
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#define VBAT_SCALE_MIN 0
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#define VBAT_SCALE_MAX 255
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#define VIRTUAL_CURRENT_MIN 0
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#define VIRTUAL_CURRENT_MAX 0xffff
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typedef enum {
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CURRENT_SENSOR_NONE = 0,
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CURRENT_SENSOR_ADC,
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CURRENT_SENSOR_VIRTUAL,
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CURRENT_SENSOR_MAX = CURRENT_SENSOR_VIRTUAL
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} currentSensor_e;
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typedef struct batteryConfig_s {
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uint8_t vbatscale; // adjust this to match battery voltage to reported value
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@ -29,6 +38,7 @@ typedef struct batteryConfig_s {
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uint16_t currentMeterScale; // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
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uint16_t currentMeterOffset; // offset of the current sensor in millivolt steps
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currentSensor_e currentMeterType; // type of current meter used, either ADC or virtual
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// FIXME this doesn't belong in here since it's a concern of MSP, not of the battery code.
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uint8_t multiwiiCurrentMeterOutput; // if set to 1 output the amperage in milliamp steps instead of 0.01A steps via msp
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