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BattMonitor: minimum voltage option for aggregate monitors #114

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merged 2 commits into from
Jun 16, 2024
Merged

BattMonitor: minimum voltage option for aggregate monitors #114

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13bd726
AP_BattMonitor: add option minimum volt option
loki077 Mar 7, 2024
6944422
AP_BattMonitor: ESC: add mask parameter
robertlong13 May 16, 2024
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18 changes: 18 additions & 0 deletions libraries/AP_BattMonitor/AP_BattMonitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_UAVCAN.cpp
// @Group: _
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: _
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[0], "_", 41, AP_BattMonitor, backend_var_info[0]),

#if AP_BATT_MONITOR_MAX_INSTANCES > 1
Expand All @@ -70,6 +72,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_UAVCAN.cpp
// @Group: 2_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: 2_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[1], "2_", 42, AP_BattMonitor, backend_var_info[1]),
#endif

Expand All @@ -88,6 +92,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_UAVCAN.cpp
// @Group: 3_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: 3_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[2], "3_", 43, AP_BattMonitor, backend_var_info[2]),
#endif

Expand All @@ -106,6 +112,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_UAVCAN.cpp
// @Group: 4_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: 4_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[3], "4_", 44, AP_BattMonitor, backend_var_info[3]),
#endif

Expand All @@ -124,6 +132,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_UAVCAN.cpp
// @Group: 5_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: 5_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[4], "5_", 45, AP_BattMonitor, backend_var_info[4]),
#endif

Expand All @@ -142,6 +152,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_UAVCAN.cpp
// @Group: 6_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: 6_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[5], "6_", 46, AP_BattMonitor, backend_var_info[5]),
#endif

Expand All @@ -160,6 +172,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_UAVCAN.cpp
// @Group: 7_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: 7_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[6], "7_", 47, AP_BattMonitor, backend_var_info[6]),
#endif

Expand All @@ -178,6 +192,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_UAVCAN.cpp
// @Group: 8_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: 8_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[7], "8_", 48, AP_BattMonitor, backend_var_info[7]),
#endif

Expand All @@ -196,6 +212,8 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
// @Path: AP_BattMonitor_UAVCAN.cpp
// @Group: 9_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: 9_
// @Path: AP_BattMonitor_ESC.cpp
AP_SUBGROUPVARPTR(drivers[8], "9_", 49, AP_BattMonitor, backend_var_info[8]),
#endif

Expand Down
44 changes: 42 additions & 2 deletions libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,32 @@

extern const AP_HAL::HAL &hal;

const AP_Param::GroupInfo AP_BattMonitor_ESC::var_info[] = {

// Param indexes must be between 36 and 39 to avoid conflict with other battery monitor param tables loaded by pointer

// @Param: ESC_MASK
// @DisplayName: ESC mask
// @Description: If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
// @Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32
// @User: Standard
AP_GROUPINFO("ESC_MASK", 36, AP_BattMonitor_ESC, _mask, 0),

// Param indexes must be between 36 and 39 to avoid conflict with other battery monitor param tables loaded by pointer

AP_GROUPEND
};

// constructor. This incorporates initialisation as well.
AP_BattMonitor_ESC::AP_BattMonitor_ESC(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state,
AP_BattMonitor_Params &params):
AP_BattMonitor_Backend(mon, mon_state, params)
{
AP_Param::setup_object_defaults(this, var_info);
_state.var_info = var_info;
};

void AP_BattMonitor_ESC::init(void)
{
}
Expand All @@ -32,12 +58,19 @@ void AP_BattMonitor_ESC::read(void)
uint8_t voltage_escs = 0; // number of ESCs with valid voltage
uint8_t temperature_escs = 0; // number of ESCs with valid temperature
float voltage_sum = 0;
float voltage_min = 0;
float current_sum = 0;
float temperature_sum = 0;
uint32_t highest_ms = 0;
_state.consumed_mah = delta_mah;
_state.consumed_mah = delta_mah;

const bool all_enabled = _mask == 0;
for (uint8_t i=0; i<ESC_TELEM_MAX_ESCS; i++) {
if (!all_enabled && ((_mask & (1U<<i)) == 0)) {
// Only include ESCs set in mask
continue;
}

int16_t temperature_cdeg;
float voltage;
float current;
Expand All @@ -50,6 +83,9 @@ void AP_BattMonitor_ESC::read(void)
}

if (telem.get_voltage(i, voltage)) {
if (voltage_escs == 0 || voltage_min > voltage) {
voltage_min = voltage;
}
voltage_sum += voltage;
voltage_escs++;
}
Expand All @@ -69,7 +105,11 @@ void AP_BattMonitor_ESC::read(void)
}

if (voltage_escs > 0) {
_state.voltage = voltage_sum / voltage_escs;
if (uint32_t(_params._options.get()) & uint32_t(AP_BattMonitor_Params::Options::Minimum_Voltage)) {
_state.voltage = voltage_min;
} else {
_state.voltage = voltage_sum / voltage_escs;
}
_state.healthy = true;
} else {
_state.voltage = 0;
Expand Down
9 changes: 6 additions & 3 deletions libraries/AP_BattMonitor/AP_BattMonitor_ESC.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,7 @@ class AP_BattMonitor_ESC :public AP_BattMonitor_Backend
{
public:
// constructor. This incorporates initialisation as well.
AP_BattMonitor_ESC(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params):
AP_BattMonitor_Backend(mon, mon_state, params)
{};
AP_BattMonitor_ESC(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor_Params &params);

virtual ~AP_BattMonitor_ESC(void) {};

Expand All @@ -46,7 +44,12 @@ class AP_BattMonitor_ESC :public AP_BattMonitor_Backend
// reset remaining percentage to given value
virtual bool reset_remaining(float percentage) override;

static const struct AP_Param::GroupInfo var_info[];

private:

AP_Int32 _mask;

bool have_current;
bool have_temperature;
float delta_mah;
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -143,7 +143,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Battery monitor options
// @Description: This sets options to change the behaviour of the battery monitor
// @Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS
// @Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Aggregate monitor reports minimum voltage instead of average, 8:Aggregate monitor reports maximum current instead of average, 9:Aggregate monitor reports maximum temperature instead of average, 10:Aggregate monitor reports minimum temperature instead of average
// @User: Advanced
AP_GROUPINFO("OPTIONS", 21, AP_BattMonitor_Params, _options, 0),

Expand Down
4 changes: 3 additions & 1 deletion libraries/AP_BattMonitor/AP_BattMonitor_Params.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,14 +17,16 @@ class AP_BattMonitor_Params {
BattMonitor_LowVoltageSource_Raw = 0,
BattMonitor_LowVoltageSource_SagCompensated = 1
};
enum class Options : uint8_t {
enum class Options : uint16_t {
Ignore_UAVCAN_SoC = (1U<<0), // Ignore UAVCAN State-of-Charge (charge %) supplied value from the device and use the internally calculated one
MPPT_Use_Input_Value = (1U<<1), // MPPT reports voltage and current from Input (usually solar panel) instead of the output
MPPT_Power_Off_At_Disarm = (1U<<2), // MPPT Disabled when vehicle is disarmed, if HW supports it
MPPT_Power_On_At_Arm = (1U<<3), // MPPT Enabled when vehicle is armed, if HW supports it
MPPT_Power_Off_At_Boot = (1U<<4), // MPPT Disabled at startup (aka boot), if HW supports it
MPPT_Power_On_At_Boot = (1U<<5), // MPPT Enabled at startup (aka boot), if HW supports it. If Power_Off_at_Boot is also set, the behavior is Power_Off_at_Boot
GCS_Resting_Voltage = (1U<<6), // send resistance resting voltage to GCS
// AllowSplitAuxInfo = (1U<<7), // allow different node to provide aux info for DroneCAN (Reserved for ArduPilot 4.5+)
Minimum_Voltage = (1U<<8), // aggregate monitors report minimum voltage rather than average
};

BattMonitor_LowVoltage_Source failsafe_voltage_source(void) const { return (enum BattMonitor_LowVoltage_Source)_failsafe_voltage_source.get(); }
Expand Down
10 changes: 9 additions & 1 deletion libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ void
AP_BattMonitor_Sum::read()
{
float voltage_sum = 0;
float voltage_min = 0;
uint8_t voltage_count = 0;
float current_sum = 0;
uint8_t current_count = 0;
Expand All @@ -65,6 +66,9 @@ AP_BattMonitor_Sum::read()
if (!_mon.healthy(i)) {
continue;
}
if (voltage_count == 0 || _mon.voltage(i) < voltage_min) {
voltage_min = _mon.voltage(i);
}
voltage_sum += _mon.voltage(i);
voltage_count++;
float current;
Expand All @@ -77,7 +81,11 @@ AP_BattMonitor_Sum::read()
const uint32_t dt_us = tnow_us - _state.last_time_micros;

if (voltage_count > 0) {
_state.voltage = voltage_sum / voltage_count;
if (uint32_t(_params._options.get()) & uint32_t(AP_BattMonitor_Params::Options::Minimum_Voltage)) {
_state.voltage = voltage_min;
} else {
_state.voltage = voltage_sum / voltage_count;
}
}
if (current_count > 0) {
_state.current_amps = current_sum;
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ const AP_Param::GroupInfo AP_BattMonitor_UAVCAN::var_info[] = {
// @User: Advanced
AP_GROUPINFO("CURR_MULT", 30, AP_BattMonitor_UAVCAN, _curr_mult, 1.0),

// Param indexes must be between 30 and 39 to avoid conflict with other battery monitor param tables loaded by pointer
// Param indexes must be between 30 and 35 to avoid conflict with other battery monitor param tables loaded by pointer

AP_GROUPEND
};
Expand Down
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