from the pr

delay for voltage warnings #6691

changed to vbat
Update Battery.md
Add Menu osd Alarm delay

vbat_duration_for_crit
batteryConfig_vbatDurationForCrit
to
 vbat_duration_for_critical
batteryConfig_vbatDurationForCritical

lastVoltageOkMillis rename

docs/Battery.md

@@ -61,14 +61,19 @@ Configure min/max cell voltages using the following CLI setting:
 
 `vbat_hysteresis` - Sets the hysteresis value for low-battery alarms, in 0.1V units, i.e. 1 = 0.1V
 
-e.g.
+`vbat_duration_for_warning` - Period voltage has to sustain before the battery state is set to battery-warning, in 0.1 s, i.e. 60 = 6.0 seconds
 
+`vbat_duration_for_critical` - Period voltage has to sustain before the battery state is set to battery-critical, in 0.1 s, i.e. 21 = 2.1 seconds
+
+e.g.
 ```
 set vbat_scale = 110
 set vbat_max_cell_voltage = 43
 set vbat_min_cell_voltage = 33
 set vbat_warning_cell_voltage = 34
 set vbat_hysteresis = 1
+set vbat_duration_for_warning = 60
+set vbat_duration_for_critical = 20
 ```
 
 # Current Monitoring

src/main/cli/settings.c

@@ -775,6 +775,8 @@ const clivalue_t valueTable[] = {
     { "force_battery_cell_count",   VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 24 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, forceBatteryCellCount) },
     { "vbat_lpf_period",            VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatLpfPeriod) },
     { "ibat_lpf_period",            VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, ibatLpfPeriod) },
+    { "vbat_duration_for_warning",  VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, 150 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatDurationForWarning) },
+    { "vbat_duration_for_critical",  VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, 150 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatDurationForCritical) },
 
 //  PG_VOLTAGE_SENSOR_ADC_CONFIG
     { "vbat_scale",                 VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { VBAT_SCALE_MIN, VBAT_SCALE_MAX }, PG_VOLTAGE_SENSOR_ADC_CONFIG, offsetof(voltageSensorADCConfig_t, vbatscale) },

src/main/cms/cms_menu_osd.c

@@ -43,6 +43,7 @@
 
 #include "osd/osd.h"
 #include "osd/osd_elements.h"
+#include "sensors/battery.h"
 
 #ifdef USE_EXTENDED_CMS_MENUS
 static uint16_t osdConfig_item_pos[OSD_ITEM_COUNT];
@@ -153,12 +154,16 @@ CMS_Menu menuOsdActiveElems = {
 static uint8_t osdConfig_rssi_alarm;
 static uint16_t osdConfig_cap_alarm;
 static uint16_t osdConfig_alt_alarm;
+static uint8_t batteryConfig_vbatDurationForWarning;
+static uint8_t batteryConfig_vbatDurationForCritical;
 
 static long menuAlarmsOnEnter(void)
 {
     osdConfig_rssi_alarm = osdConfig()->rssi_alarm;
     osdConfig_cap_alarm = osdConfig()->cap_alarm;
     osdConfig_alt_alarm = osdConfig()->alt_alarm;
+    batteryConfig_vbatDurationForWarning = batteryConfig()->vbatDurationForWarning;
+    batteryConfig_vbatDurationForCritical = batteryConfig()->vbatDurationForCritical;
 
     return 0;
 }
@@ -170,6 +175,8 @@ static long menuAlarmsOnExit(const OSD_Entry *self)
     osdConfigMutable()->rssi_alarm = osdConfig_rssi_alarm;
     osdConfigMutable()->cap_alarm = osdConfig_cap_alarm;
     osdConfigMutable()->alt_alarm = osdConfig_alt_alarm;
+    batteryConfigMutable()->vbatDurationForWarning = batteryConfig_vbatDurationForWarning;
+    batteryConfigMutable()->vbatDurationForCritical = batteryConfig_vbatDurationForCritical;
 
     return 0;
 }
@@ -180,6 +187,8 @@ const OSD_Entry menuAlarmsEntries[] =
     {"RSSI",     OME_UINT8,  NULL, &(OSD_UINT8_t){&osdConfig_rssi_alarm, 5, 90, 5}, 0},
     {"MAIN BAT", OME_UINT16, NULL, &(OSD_UINT16_t){&osdConfig_cap_alarm, 50, 30000, 50}, 0},
     {"MAX ALT",  OME_UINT16, NULL, &(OSD_UINT16_t){&osdConfig_alt_alarm, 1, 200, 1}, 0},
+    {"VBAT WARN DUR", OME_UINT8, NULL, &(OSD_UINT8_t){ &batteryConfig_vbatDurationForWarning, 0, 200, 1 }, 0 },
+    {"VBAT CRIT DUR", OME_UINT8, NULL, &(OSD_UINT8_t){ &batteryConfig_vbatDurationForCritical, 0, 200, 1 }, 0 },
     {"BACK", OME_Back, NULL, NULL, 0},
     {NULL, OME_END, NULL, NULL, 0}
 };

src/main/sensors/battery.c

@@ -116,6 +116,8 @@ PG_RESET_TEMPLATE(batteryConfig_t, batteryConfig,
 
     .vbatLpfPeriod = 30,
     .ibatLpfPeriod = 10,
+    .vbatDurationForWarning = 0,
+    .vbatDurationForCritical = 0,
 );
 
 void batteryUpdateVoltage(timeUs_t currentTimeUs)
@@ -228,24 +230,35 @@ void batteryUpdatePresence(void)
 static void batteryUpdateVoltageState(void)
 {
     // alerts are currently used by beeper, osd and other subsystems
+    static uint32_t lastVoltageChangeMs;
     switch (voltageState) {
         case BATTERY_OK:
             if (voltageMeter.filtered <= (batteryWarningVoltage - batteryConfig()->vbathysteresis)) {
+                if (cmp32(millis(), lastVoltageChangeMs) >= batteryConfig()->vbatDurationForWarning * 100) {
                     voltageState = BATTERY_WARNING;
                 }
+            } else {
+                lastVoltageChangeMs = millis();
+            }
             break;
 
         case BATTERY_WARNING:
             if (voltageMeter.filtered <= (batteryCriticalVoltage - batteryConfig()->vbathysteresis)) {
+                if (cmp32(millis(), lastVoltageChangeMs) >= batteryConfig()->vbatDurationForCritical * 100) {
                     voltageState = BATTERY_CRITICAL;
-            } else if (voltageMeter.filtered > batteryWarningVoltage) {
+                }
+            } else {
+                if (voltageMeter.filtered > batteryWarningVoltage) {
                     voltageState = BATTERY_OK;
                 }
+                lastVoltageChangeMs = millis();
+            }
             break;
 
         case BATTERY_CRITICAL:
             if (voltageMeter.filtered > batteryCriticalVoltage) {
                 voltageState = BATTERY_WARNING;
+                lastVoltageChangeMs = millis();
             }
             break;
 

src/main/sensors/battery.h

@@ -63,6 +63,8 @@ typedef struct batteryConfig_s {
     uint8_t forceBatteryCellCount;          // Number of cells in battery, used for overwriting auto-detected cell count if someone has issues with it.
     uint8_t vbatLpfPeriod;                  // Period of the cutoff frequency for the Vbat filter (in 0.1 s)
     uint8_t ibatLpfPeriod;                  // Period of the cutoff frequency for the Ibat filter (in 0.1 s)
+    uint8_t vbatDurationForWarning;      // Period voltage has to sustain before the battery state is set to BATTERY_WARNING (in 0.1 s)
+    uint8_t vbatDurationForCritical;         // Period voltage has to sustain before the battery state is set to BATTERY_CRIT (in 0.1 s)
 } batteryConfig_t;
 
 PG_DECLARE(batteryConfig_t, batteryConfig);