static void onTimer(UAVObjEvent* ev)
{
static portTickType lastSysTime;
static bool firstRun = true;
static FlightBatteryStateData flightBatteryData;
if (firstRun) {
#ifdef ENABLE_DEBUG_MSG
PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
#endif
lastSysTime = xTaskGetTickCount();
//FlightBatteryStateGet(&flightBatteryData);
firstRun = false;
}
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_ERROR);
portTickType thisSysTime;
FlightBatterySettingsData batterySettings;
static float dT = SAMPLE_PERIOD_MS / 1000;
float Bob;
float energyRemaining;
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (float)(thisSysTime - lastSysTime) / (float)(portTICK_RATE_MS * 1000.0f);
//lastSysTime = thisSysTime;
FlightBatterySettingsGet(&batterySettings);
//calculate the battery parameters
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(2)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts
flightBatteryData.Current = ((float)PIOS_ADC_PinGet(1)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps
Bob =dT; // FIXME: something funky happens if I don't do this... Andrew
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * 1000.0 * dT / 3600.0) ;//in mAh
if (flightBatteryData.Current > flightBatteryData.PeakCurrent)flightBatteryData.PeakCurrent = flightBatteryData.Current; //in Amps
flightBatteryData.AvgCurrent=(flightBatteryData.AvgCurrent*0.8)+(flightBatteryData.Current*0.2); //in Amps
//sanity checks
if (flightBatteryData.AvgCurrent<0)flightBatteryData.AvgCurrent=0.0;
if (flightBatteryData.PeakCurrent<0)flightBatteryData.PeakCurrent=0.0;
if (flightBatteryData.ConsumedEnergy<0)flightBatteryData.ConsumedEnergy=0.0;
energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh
flightBatteryData.EstimatedFlightTime = ((energyRemaining / (flightBatteryData.AvgCurrent*1000.0))*3600.0);//in Sec
//generate alarms where needed...
if ((flightBatteryData.Voltage<=0)&&(flightBatteryData.Current<=0))
{
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_ERROR);
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_ERROR);
}
else
{
if (flightBatteryData.EstimatedFlightTime < 30) AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_CRITICAL);
else if (flightBatteryData.EstimatedFlightTime < 60) AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_WARNING);
else AlarmsClear(SYSTEMALARMS_ALARM_FLIGHTTIME);
// FIXME: should make the battery voltage detection dependent on battery type.
if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_ALARM])
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
else if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_WARNING])
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
else AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
}
lastSysTime = thisSysTime;
FlightBatteryStateSet(&flightBatteryData);
}
static void onTimer(UAVObjEvent* ev)
{
static FlightBatteryStateData flightBatteryData;
FlightBatterySettingsData batterySettings;
FlightBatterySettingsGet(&batterySettings);
static float dT = SAMPLE_PERIOD_MS / 1000.0f;
float energyRemaining;
//calculate the battery parameters
if (voltageADCPin >=0) {
flightBatteryData.Voltage = ((float)PIOS_ADC_PinGet(voltageADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_VOLTAGEFACTOR]; //in Volts
}
else {
flightBatteryData.Voltage=1234; //Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
}
if (currentADCPin >=0) {
flightBatteryData.Current = ((float)PIOS_ADC_PinGet(currentADCPin)) * batterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR]; //in Amps
if (flightBatteryData.Current > flightBatteryData.PeakCurrent)
flightBatteryData.PeakCurrent = flightBatteryData.Current; //in Amps
}
else { //If there's no current measurement, we still need to assign one. Make it negative, so it can never trigger an alarm
flightBatteryData.Current=-0.1234f; //Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
}
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f) ;//in mAh
//Apply a 2 second rise time low-pass filter to average the current
float alpha = 1.0f-dT/(dT+2.0f);
flightBatteryData.AvgCurrent=alpha*flightBatteryData.AvgCurrent+(1-alpha)*flightBatteryData.Current; //in Amps
/*The motor could regenerate power. Or we could have solar cells.
In short, is there any likelihood of measuring negative current? If it's a bad current reading we want to check, then
it makes sense to saturate at max and min values, because a misreading could as easily be very large, as negative. The simple
sign check doesn't catch this.*/
// //sanity checks
// if (flightBatteryData.AvgCurrent<0) flightBatteryData.AvgCurrent=0.0f;
// if (flightBatteryData.PeakCurrent<0) flightBatteryData.PeakCurrent=0.0f;
// if (flightBatteryData.ConsumedEnergy<0) flightBatteryData.ConsumedEnergy=0.0f;
energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh
if (flightBatteryData.AvgCurrent > 0)
flightBatteryData.EstimatedFlightTime = (energyRemaining / (flightBatteryData.AvgCurrent*1000.0f))*3600.0f;//in Sec
else
flightBatteryData.EstimatedFlightTime = 9999;
//generate alarms where needed...
if ((flightBatteryData.Voltage<=0) && (flightBatteryData.Current<=0))
{
//FIXME: There's no guarantee that a floating ADC will give 0. So this
// check might fail, even when there's nothing attached.
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_ERROR);
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_ERROR);
}
else
{
// FIXME: should make the timer alarms user configurable
if (flightBatteryData.EstimatedFlightTime < 30)
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_CRITICAL);
else if (flightBatteryData.EstimatedFlightTime < 120)
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_WARNING);
else
AlarmsClear(SYSTEMALARMS_ALARM_FLIGHTTIME);
// FIXME: should make the battery voltage detection dependent on battery type.
/*Not so sure. Some users will want to run their batteries harder than others, so it should be the user's choice. [KDS]*/
if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_ALARM])
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
else if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_WARNING])
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
else
AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
}
FlightBatteryStateSet(&flightBatteryData);
}
/**
* Main task. It does not return.
*/
static void batteryTask(void * parameters)
{
const float dT = SAMPLE_PERIOD_MS / 1000.0f;
settingsUpdatedCb(NULL);
// Main task loop
portTickType lastSysTime;
lastSysTime = xTaskGetTickCount();
while (true) {
vTaskDelayUntil(&lastSysTime, MS2TICKS(SAMPLE_PERIOD_MS));
FlightBatteryStateData flightBatteryData;
FlightBatterySettingsData batterySettings;
float energyRemaining;
if (battery_settings_updated) {
battery_settings_updated = false;
FlightBatterySettingsGet(&batterySettings);
voltageADCPin = batterySettings.VoltagePin;
if (voltageADCPin == FLIGHTBATTERYSETTINGS_VOLTAGEPIN_NONE)
voltageADCPin = -1;
currentADCPin = batterySettings.CurrentPin;
if (currentADCPin == FLIGHTBATTERYSETTINGS_CURRENTPIN_NONE)
currentADCPin = -1;
}
//calculate the battery parameters
if (voltageADCPin >= 0) {
flightBatteryData.Voltage = ((float) PIOS_ADC_GetChannelVolt(voltageADCPin)) / batterySettings.SensorCalibrationFactor[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONFACTOR_VOLTAGE] * 1000.0f +
batterySettings.SensorCalibrationOffset[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONOFFSET_VOLTAGE]; //in Volts
} else {
flightBatteryData.Voltage = 0; //Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
}
if (currentADCPin >= 0) {
flightBatteryData.Current = ((float) PIOS_ADC_GetChannelVolt(currentADCPin)) / batterySettings.SensorCalibrationFactor[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONFACTOR_CURRENT] * 1000.0f +
batterySettings.SensorCalibrationOffset[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONOFFSET_CURRENT]; //in Amps
if (flightBatteryData.Current > flightBatteryData.PeakCurrent)
flightBatteryData.PeakCurrent = flightBatteryData.Current; //in Amps
} else { //If there's no current measurement, we still need to assign one. Make it negative, so it can never trigger an alarm
flightBatteryData.Current = -1; //Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
}
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f); //in mAh
//Apply a 2 second rise time low-pass filter to average the current
float alpha = 1.0f - dT / (dT + 2.0f);
flightBatteryData.AvgCurrent = alpha * flightBatteryData.AvgCurrent + (1 - alpha) * flightBatteryData.Current; //in Amps
energyRemaining = batterySettings.Capacity - flightBatteryData.ConsumedEnergy; // in mAh
if (flightBatteryData.AvgCurrent > 0)
flightBatteryData.EstimatedFlightTime = (energyRemaining / (flightBatteryData.AvgCurrent * 1000.0f)) * 3600.0f; //in Sec
else
flightBatteryData.EstimatedFlightTime = 9999;
//generate alarms where needed...
if ((flightBatteryData.Voltage <= 0) && (flightBatteryData.Current <= 0)) {
//FIXME: There's no guarantee that a floating ADC will give 0. So this
// check might fail, even when there's nothing attached.
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_ERROR);
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_ERROR);
} else {
// FIXME: should make the timer alarms user configurable
if (flightBatteryData.EstimatedFlightTime < 30)
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_CRITICAL);
else if (flightBatteryData.EstimatedFlightTime < 120)
AlarmsSet(SYSTEMALARMS_ALARM_FLIGHTTIME, SYSTEMALARMS_ALARM_WARNING);
else
AlarmsClear(SYSTEMALARMS_ALARM_FLIGHTTIME);
// FIXME: should make the battery voltage detection dependent on battery type.
/*Not so sure. Some users will want to run their batteries harder than others, so it should be the user's choice. [KDS]*/
if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_ALARM])
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
else if (flightBatteryData.Voltage < batterySettings.VoltageThresholds[FLIGHTBATTERYSETTINGS_VOLTAGETHRESHOLDS_WARNING])
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
else
AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
}
FlightBatteryStateSet(&flightBatteryData);
}
}
