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Battery compensation fix #8868

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merged 3 commits into from
Feb 11, 2018
Merged

Battery compensation fix #8868

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3726360
battery compensation is now performed on the cell voltage rather than…
nanthony21 Feb 10, 2018
9391185
cell_voltage is no longer constant
nanthony21 Feb 10, 2018
3101341
fix formattting
nanthony21 Feb 11, 2018
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11 changes: 7 additions & 4 deletions src/modules/systemlib/battery.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -170,18 +170,21 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
void
Battery::estimateRemaining(float voltage_v, float current_a, float throttle_normalized, bool armed)
{


// remaining battery capacity based on voltage
float cell_voltage = voltage_v / _n_cells.get();

// correct battery voltage locally for load drop to avoid estimation fluctuations
if (_r_internal.get() >= 0.f) {
voltage_v += _r_internal.get() * current_a;
cell_voltage += _r_internal.get() * current_a;

} else {
// assume quadratic relation between throttle and current
// good assumption if throttle represents RPM
voltage_v += throttle_normalized * throttle_normalized * _v_load_drop.get();
cell_voltage += throttle_normalized * throttle_normalized * _v_load_drop.get();
}

// remaining battery capacity based on voltage
const float cell_voltage = voltage_v / _n_cells.get();
_remaining_voltage = math::gradual(cell_voltage, _v_empty.get(), _v_charged.get(), 0.f, 1.f);

// choose which quantity we're using for final reporting
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