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Consider the throttle load for battery voltage calculation

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This commit is contained in:
Lorenz Meier
2014-07-19 14:12:33 +02:00
parent a1a921d152
commit 3a0fc36c67
4 changed files with 21 additions and 7 deletions
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11
src/modules/commander/commander.cpp
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@@ -918,6 +918,11 @@ int commander_thread_main(int argc, char *argv[])
struct system_power_s system_power;
memset(&system_power, 0, sizeof(system_power));
/* Subscribe to actuator controls (outputs) */
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
control_status_leds(&status, &armed, true);
/* now initialized */
@@ -1199,13 +1204,17 @@ int commander_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
/* only consider battery voltage if system has been running 2s and battery voltage is valid */
if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
status.battery_voltage = battery.voltage_filtered_v;
status.battery_current = battery.current_a;
status.condition_battery_voltage_valid = true;
status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah);
/* get throttle (if armed), as we only care about energy negative throttle also counts */
float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f;
status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, throttle);
}
}