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battery: clear interface for determineWarning()

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This commit is contained in:
Matthias Grob
2021-06-30 15:05:44 +02:00
parent f41c294028
commit fa976f84b1
2 changed files with 10 additions and 11 deletions
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19
src/lib/battery/battery.cpp
View File

@@ -120,7 +120,7 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
computeScale();
if (connected && _battery_initialized) {
determineWarning();
_warning = determineWarning(_state_of_charge);
}
if (_voltage_filter_v.getState() > 2.1f) {
@@ -219,20 +219,19 @@ void Battery::estimateStateOfCharge(const float voltage_v, const float current_a
}
}
void Battery::determineWarning()
uint8_t Battery::determineWarning(float state_of_charge)
{
// propagate warning state only if the state is higher, otherwise remain in current warning state
if (_battery_status.remaining < _params.emergen_thr) {
_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
if (state_of_charge < _params.emergen_thr) {
return battery_status_s::BATTERY_WARNING_EMERGENCY;
} else if (_battery_status.remaining < _params.crit_thr) {
_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (state_of_charge < _params.crit_thr) {
return battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (_battery_status.remaining < _params.low_thr) {
_warning = battery_status_s::BATTERY_WARNING_LOW;
} else if (state_of_charge < _params.low_thr) {
return battery_status_s::BATTERY_WARNING_LOW;
} else {
_warning = battery_status_s::BATTERY_WARNING_NONE;
return battery_status_s::BATTERY_WARNING_NONE;
}
}

2
src/lib/battery/battery.h
View File

@@ -187,7 +187,7 @@ protected:
private:
void sumDischarged(const hrt_abstime &timestamp, float current_a);
void estimateStateOfCharge(const float voltage_v, const float current_a, const float throttle);
void determineWarning();
uint8_t determineWarning(float state_of_charge);
void computeScale();
uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};