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battery: simplify battery_initialized condition

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This commit is contained in:
Matthias Grob
2021-06-25 15:45:30 +02:00
parent a51d47f8e8
commit 41cc73e555
1 changed files with 9 additions and 16 deletions
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25
src/lib/battery/battery.cpp
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@@ -215,24 +215,17 @@ void Battery::estimateStateOfCharge(const float voltage_v, const float current_a
_state_of_charge_volt_based = math::gradual(cell_voltage, _params.v_empty, _params.v_charged, 0.f, 1.f);
// choose which quantity we're using for final reporting
if (_params.capacity > 0.f) {
if (_params.capacity > 0.f && _battery_initialized) {
// if battery capacity is known, fuse voltage measurement with used capacity
if (!_battery_initialized) {
// initialization of the estimation state
_state_of_charge = _state_of_charge_volt_based;
// The lower the voltage the more adjust the estimate with it to avoid deep discharge
const float weight_v = 3e-4f * (1 - _state_of_charge_volt_based);
_state_of_charge = (1 - weight_v) * _state_of_charge + weight_v * _state_of_charge_volt_based;
// directly apply current capacity slope calculated using current
_state_of_charge -= _discharged_mah_loop / _params.capacity;
_state_of_charge = math::max(_state_of_charge, 0.f);
} else {
// The lower the voltage the more adjust the estimate with it to avoid deep discharge
const float weight_v = 3e-4f * (1 - _state_of_charge_volt_based);
_state_of_charge = (1 - weight_v) * _state_of_charge + weight_v * _state_of_charge_volt_based;
// directly apply current capacity slope calculated using current
_state_of_charge -= _discharged_mah_loop / _params.capacity;
_state_of_charge = math::max(_state_of_charge, 0.f);
const float state_of_charge_current_based = math::max(1.f - _discharged_mah / _params.capacity, 0.f);
_state_of_charge = math::min(state_of_charge_current_based, _state_of_charge);
}
const float state_of_charge_current_based = math::max(1.f - _discharged_mah / _params.capacity, 0.f);
_state_of_charge = math::min(state_of_charge_current_based, _state_of_charge);
} else {
_state_of_charge = _state_of_charge_volt_based;