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commander: Fix battery config

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This commit is contained in:
Lorenz Meier
2015-03-28 13:54:05 -07:00
parent 48e88ec551
commit 8ebf9755e4
3 changed files with 32 additions and 24 deletions
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44
src/modules/commander/commander_helper.cpp
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@@ -90,6 +90,29 @@ static hrt_abstime tune_end = 0; // end time of currently played tune, 0 for re
static int tune_current = TONE_STOP_TUNE; // currently playing tune, can be interrupted after tune_end
static unsigned int tune_durations[TONE_NUMBER_OF_TUNES];
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 = 3.4f;
static float bat_v_full = 4.2f;
static float bat_v_load_drop = 0.06f;
static int bat_n_cells = 3;
static float bat_capacity = -1.0f;
static unsigned int counter = 0;
int battery_init()
{
bat_v_empty_h = param_find("BAT_V_EMPTY");
bat_v_full_h = param_find("BAT_V_CHARGED");
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");
return OK;
}
int buzzer_init()
{
tune_end = 0;
@@ -303,27 +326,6 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern)
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 = 3.4f;
static float bat_v_full = 4.2f;
static float bat_v_load_drop = 0.06f;
static int bat_n_cells = 3;
static float bat_capacity = -1.0f;
static bool initialized = false;
static unsigned int counter = 0;
if (!initialized) {
bat_v_empty_h = param_find("BAT_V_EMPTY");
bat_v_full_h = param_find("BAT_V_CHARGED");
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);