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Merge pull request #3510 from brycedjohnson/LVC
Add in Low Voltage Cutout option/Increase Vbat filtering/Improved cell detection
This commit is contained in:
Michael Keller
GitHub
commit
5981273cc4
7 changed files with 65 additions and 20 deletions
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@ -44,6 +44,8 @@
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#include "scheduler/scheduler.h"
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#include "sensors/battery.h"
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#include "flight/failsafe.h"
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#include "flight/imu.h"
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#include "flight/pid.h"
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@ -299,9 +301,15 @@ void updateRcCommands(void)
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if (feature(FEATURE_3D)) {
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tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
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tmp = (uint32_t)(tmp - PWM_RANGE_MIN);
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if (getLowVoltageCutoff()->enabled) {
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tmp = tmp * getLowVoltageCutoff()->percentage / 100;
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}
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} else {
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tmp = constrain(rcData[THROTTLE], rxConfig()->mincheck, PWM_RANGE_MAX);
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tmp = (uint32_t)(tmp - rxConfig()->mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - rxConfig()->mincheck);
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if (getLowVoltageCutoff()->enabled) {
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tmp = tmp * getLowVoltageCutoff()->percentage / 100;
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}
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}
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rcCommand[THROTTLE] = rcLookupThrottle(tmp);
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@ -131,14 +131,11 @@ static void taskHandleSerial(timeUs_t currentTimeUs)
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void taskBatteryAlerts(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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if (!ARMING_FLAG(ARMED)) {
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// the battery *might* fall out in flight, but if that happens the FC will likely be off too unless the user has battery backup.
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batteryUpdatePresence();
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}
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batteryUpdateStates();
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batteryUpdateStates(currentTimeUs);
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batteryUpdateAlarms();
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}
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@ -435,6 +435,7 @@ const clivalue_t valueTable[] = {
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{ "use_vbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, useVBatAlerts) },
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{ "use_cbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, useConsumptionAlerts) },
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{ "cbat_alert_percent", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, consumptionWarningPercentage) },
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{ "vbat_cutoff_percent", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, lvcPercentage) },
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// PG_VOLTAGE_SENSOR_ADC_CONFIG
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{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VBAT_SCALE_MIN, VBAT_SCALE_MAX }, PG_VOLTAGE_SENSOR_ADC_CONFIG, offsetof(voltageSensorADCConfig_t, vbatscale) },
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@ -56,11 +56,13 @@
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static void batteryUpdateConsumptionState(void); // temporary forward reference
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#define VBAT_STABLE_MAX_DELTA 2
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#define LVC_AFFECT_TIME 10000000 //10 secs for the LVC to slowly kick in
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// Battery monitoring stuff
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uint8_t batteryCellCount; // Note: this can be 0 when no battery is detected or when the battery voltage sensor is missing or disabled.
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uint16_t batteryWarningVoltage;
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uint16_t batteryCriticalVoltage;
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static lowVoltageCutoff_t lowVoltageCutoff;
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//
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static currentMeter_t currentMeter;
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static voltageMeter_t voltageMeter;
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@ -94,6 +96,7 @@ PG_RESET_TEMPLATE(batteryConfig_t, batteryConfig,
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.vbatwarningcellvoltage = 35,
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.vbatnotpresentcellvoltage = 30, //A cell below 3 will be ignored
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.voltageMeterSource = DEFAULT_VOLTAGE_METER_SOURCE,
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.lvcPercentage = 100, //Off by default at 100%
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// current
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.batteryCapacity = 0,
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@ -121,7 +124,7 @@ void batteryUpdateVoltage(timeUs_t currentTimeUs)
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#endif
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case VOLTAGE_METER_ADC:
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voltageMeterADCRefresh();
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voltageMeterADCRead(ADC_BATTERY, &voltageMeter);
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voltageMeterADCRead(VOLTAGE_SENSOR_ADC_VBAT, &voltageMeter);
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break;
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default:
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@ -155,9 +158,7 @@ static void updateBatteryBeeperAlert(void)
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void batteryUpdatePresence(void)
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{
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static uint16_t previousVoltage = 0;
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bool isVoltageStable = ABS(voltageMeter.filtered - previousVoltage) <= VBAT_STABLE_MAX_DELTA;
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bool isVoltageStable = ABS(voltageMeter.filtered - voltageMeter.unfiltered) <= VBAT_STABLE_MAX_DELTA;
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bool isVoltageFromBat = (voltageMeter.filtered >= batteryConfig()->vbatnotpresentcellvoltage //above ~0V
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&& voltageMeter.filtered <= batteryConfig()->vbatmaxcellvoltage) //1s max cell voltage check
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@ -183,6 +184,8 @@ void batteryUpdatePresence(void)
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batteryCellCount = cells;
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batteryWarningVoltage = batteryCellCount * batteryConfig()->vbatwarningcellvoltage;
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batteryCriticalVoltage = batteryCellCount * batteryConfig()->vbatmincellvoltage;
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lowVoltageCutoff.percentage = 100;
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lowVoltageCutoff.startTime = 0;
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} else if (
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voltageState != BATTERY_NOT_PRESENT
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&& isVoltageStable
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@ -196,13 +199,10 @@ void batteryUpdatePresence(void)
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batteryWarningVoltage = 0;
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batteryCriticalVoltage = 0;
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}
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if (debugMode == DEBUG_BATTERY) {
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debug[2] = voltageState;
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debug[3] = batteryCellCount;
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debug[2] = batteryCellCount;
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debug[3] = isVoltageStable;
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}
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previousVoltage = voltageMeter.filtered; // record the current value so we can detect voltage stabilisation next the presence needs updating.
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}
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static void batteryUpdateVoltageState(void)
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@ -232,16 +232,42 @@ static void batteryUpdateVoltageState(void)
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default:
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break;
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}
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}
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void batteryUpdateStates(void)
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static void batteryUpdateLVC(timeUs_t currentTimeUs)
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{
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if (batteryConfig()->lvcPercentage < 100) {
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if (voltageState == BATTERY_CRITICAL && !lowVoltageCutoff.enabled) {
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lowVoltageCutoff.enabled = true;
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lowVoltageCutoff.startTime = currentTimeUs;
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lowVoltageCutoff.percentage = 100;
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}
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if (lowVoltageCutoff.enabled) {
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if (cmp32(currentTimeUs,lowVoltageCutoff.startTime) < LVC_AFFECT_TIME) {
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lowVoltageCutoff.percentage = 100 - (cmp32(currentTimeUs,lowVoltageCutoff.startTime) * (100 - batteryConfig()->lvcPercentage) / LVC_AFFECT_TIME);
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}
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else {
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lowVoltageCutoff.percentage = batteryConfig()->lvcPercentage;
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}
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}
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}
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}
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void batteryUpdateStates(timeUs_t currentTimeUs)
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{
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batteryUpdateVoltageState();
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batteryUpdateConsumptionState();
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batteryUpdateLVC(currentTimeUs);
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batteryState = MAX(voltageState, consumptionState);
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}
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lowVoltageCutoff_t *getLowVoltageCutoff(void)
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{
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return &lowVoltageCutoff;
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}
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batteryState_e getBatteryState(void)
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{
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return batteryState;
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@ -268,6 +294,9 @@ void batteryInit(void)
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voltageState = BATTERY_NOT_PRESENT;
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batteryWarningVoltage = 0;
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batteryCriticalVoltage = 0;
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lowVoltageCutoff.enabled = false;
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lowVoltageCutoff.percentage = 100;
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lowVoltageCutoff.startTime = 0;
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voltageMeterReset(&voltageMeter);
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switch (batteryConfig()->voltageMeterSource) {
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@ -30,7 +30,7 @@ typedef struct batteryConfig_s {
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uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery critical alarm, in 0.1V units, default is 33 (3.3V)
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uint8_t vbatwarningcellvoltage; // warning voltage per cell, this triggers battery warning alarm, in 0.1V units, default is 35 (3.5V)
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uint8_t vbatnotpresentcellvoltage; // Between vbatmaxcellvoltage and 2*this is considered to be USB powered. Below this it is notpresent
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uint8_t lvcPercentage; // Percentage of throttle when lvc is triggered
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voltageMeterSource_e voltageMeterSource; // source of battery voltage meter used, either ADC or ESC
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// current
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@ -42,8 +42,15 @@ typedef struct batteryConfig_s {
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bool useConsumptionAlerts; // Issue alerts based on total power consumption
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uint8_t consumptionWarningPercentage; // Percentage of remaining capacity that should trigger a battery warning
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uint8_t vbathysteresis; // hysteresis for alarm, default 1 = 0.1V
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} batteryConfig_t;
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typedef struct lowVoltageCutoff_s {
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bool enabled;
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uint8_t percentage;
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timeUs_t startTime;
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} lowVoltageCutoff_t;
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PG_DECLARE(batteryConfig_t, batteryConfig);
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typedef enum {
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@ -60,7 +67,7 @@ void batteryUpdatePresence(void);
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batteryState_e getBatteryState(void);
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const char * getBatteryStateString(void);
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void batteryUpdateStates(void);
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void batteryUpdateStates(timeUs_t currentTimeUs);
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void batteryUpdateAlarms(void);
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struct rxConfig_s;
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@ -76,3 +83,5 @@ int32_t getAmperageLatest(void);
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int32_t getMAhDrawn(void);
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void batteryUpdateCurrentMeter(timeUs_t currentTimeUs);
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lowVoltageCutoff_t *getLowVoltageCutoff(void);
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@ -176,7 +176,7 @@ void voltageMeterADCInit(void)
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voltageMeterADCState_t *state = &voltageMeterADCStates[i];
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memset(state, 0, sizeof(voltageMeterADCState_t));
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biquadFilterInitLPF(&state->filter, VBATT_LPF_FREQ, 50000);
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biquadFilterInitLPF(&state->filter, VBAT_LPF_FREQ, 50000);
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}
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}
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@ -194,7 +194,7 @@ typedef struct voltageMeterESCState_s {
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static voltageMeterESCState_t voltageMeterESCState;
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#endif
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#define VBAT_LPF_FREQ 0.4f
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void voltageMeterESCInit(void)
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{
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@ -34,6 +34,7 @@ typedef enum {
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typedef struct voltageMeter_s {
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uint16_t filtered; // voltage in 0.1V steps
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uint16_t unfiltered; // voltage in 0.1V steps
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bool lowVoltageCutoff;
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} voltageMeter_t;
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@ -54,7 +55,7 @@ typedef enum {
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#define VBAT_SCALE_MIN 0
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#define VBAT_SCALE_MAX 255
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#define VBATT_LPF_FREQ 1.0f
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#define VBAT_LPF_FREQ 0.1f
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#ifndef MAX_VOLTAGE_SENSOR_ADC
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#define MAX_VOLTAGE_SENSOR_ADC 1 // VBAT - some boards have external, 12V, 9V and 5V meters.
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