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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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10
src/modules/commander/commander_helper.cpp
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@@ -281,15 +281,17 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern)
}
}
float battery_remaining_estimate_voltage(float voltage, float discharged)
float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized)
{
float ret = 0;
static param_t bat_v_empty_h;
static param_t bat_v_full_h;
static param_t bat_n_cells_h;
static param_t bat_capacity_h;
static param_t bat_v_load_drop_h;
static float bat_v_empty = 3.2f;
static float bat_v_full = 4.0f;
static float bat_v_load_drop = 0.1f;
static int bat_n_cells = 3;
static float bat_capacity = -1.0f;
static bool initialized = false;
@@ -300,20 +302,22 @@ float battery_remaining_estimate_voltage(float voltage, float discharged)
bat_v_full_h = param_find("BAT_V_FULL");
bat_n_cells_h = param_find("BAT_N_CELLS");
bat_capacity_h = param_find("BAT_CAPACITY");
bat_v_load_drop_h = param_find("BAT_V_LOAD_DROP");
initialized = true;
}
if (counter % 100 == 0) {
param_get(bat_v_empty_h, &bat_v_empty);
param_get(bat_v_full_h, &bat_v_full);
param_get(bat_v_load_drop_h, &bat_v_load_drop);
param_get(bat_n_cells_h, &bat_n_cells);
param_get(bat_capacity_h, &bat_capacity);
}
counter++;
/* remaining charge estimate based on voltage */
float remaining_voltage = (voltage - bat_n_cells * bat_v_empty) / (bat_n_cells * (bat_v_full - bat_v_empty));
/* remaining charge estimate based on voltage and internal resistance (drop under load) */
float remaining_voltage = (voltage - bat_n_cells * (bat_v_empty - (bat_v_load_drop * throttle_normalized)) / (bat_n_cells * (bat_v_full - bat_v_empty));
if (bat_capacity > 0.0f) {
/* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */