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simulator: break out standalone battery simulator module

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- this is a small step towards unifying SITL & HITL
This commit is contained in:
Daniel Agar
2020-06-24 10:39:21 -04:00
committed by GitHub
parent ae4ed87a31
commit 55808ed2f9
14 changed files with 378 additions and 91 deletions
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34
src/modules/simulator/simulator_mavlink.cpp
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@@ -355,40 +355,6 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
update_sensors(now_us, imu);
static float battery_percentage = 1.0f;
static uint64_t last_integration_us = 0;
// battery simulation (limit update to 100Hz)
if (hrt_elapsed_time(&_last_battery_timestamp) >= SimulatorBattery::SIMLATOR_BATTERY_SAMPLE_INTERVAL_US) {
const float discharge_interval_us = _param_sim_bat_drain.get() * 1000 * 1000;
bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
if (armed) {
if (last_integration_us != 0) {
battery_percentage -= (now_us - last_integration_us) / discharge_interval_us;
}
last_integration_us = now_us;
} else {
last_integration_us = 0;
}
float ibatt = -1.0f; // no current sensor in simulation
battery_percentage = math::max(battery_percentage, _param_bat_min_pct.get() / 100.f);
float vbatt = math::gradual(battery_percentage, 0.f, 1.f, _battery.empty_cell_voltage(), _battery.full_cell_voltage());
vbatt *= _battery.cell_count();
const float throttle = 0.0f; // simulate no throttle compensation to make the estimate predictable
_battery.updateBatteryStatus(now_us, vbatt, ibatt, true, battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0, throttle);
_last_battery_timestamp = now_us;
}
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
if (!_has_initialized.load()) {