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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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10
src/modules/commander/commander.cpp
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@@ -865,12 +865,16 @@ int commander_thread_main(int argc, char *argv[])
pthread_t commander_low_prio_thread; pthread_t commander_low_prio_thread;
/* initialize */ /* initialize */
if (led_init() != 0) { if (led_init() != OK) {
warnx("ERROR: LED INIT FAIL"); mavlink_and_console_log_critical(mavlink_fd, "ERROR: LED INIT FAIL");
} }
if (buzzer_init() != OK) { if (buzzer_init() != OK) {
warnx("ERROR: BUZZER INIT FAIL"); mavlink_and_console_log_critical(mavlink_fd, "ERROR: BUZZER INIT FAIL");
}
if (battery_init() != OK) {
mavlink_and_console_log_critical(mavlink_fd, "ERROR: BATTERY INIT FAIL");
} }
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);

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 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 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() int buzzer_init()
{ {
tune_end = 0; 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 battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized)
{ {
float ret = 0; 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) { if (counter % 100 == 0) {
param_get(bat_v_empty_h, &bat_v_empty); param_get(bat_v_empty_h, &bat_v_empty);

2
src/modules/commander/commander_helper.h
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@@ -73,6 +73,8 @@ void rgbled_set_color(rgbled_color_t color);
void rgbled_set_mode(rgbled_mode_t mode); void rgbled_set_mode(rgbled_mode_t mode);
void rgbled_set_pattern(rgbled_pattern_t *pattern); void rgbled_set_pattern(rgbled_pattern_t *pattern);
int battery_init();
/** /**
* Estimate remaining battery charge. * Estimate remaining battery charge.
* *