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Update Battery.md w/ copy edits & typo fixes
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Andrew Payne
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@ -1,14 +1,13 @@
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# Battery Monitoring
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Cleanflight has a battery monitoring feature. Battery voltage of the main battery can be measured by the system and used
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to trigger a low-battery warning buzzer, on-board status LED flashing and LED strip patterns.
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Cleanflight has a battery monitoring feature. The voltage of the main battery can be measured by the system and used to trigger a low-battery warning [buzzer](Buzzer.md), on-board status LED flashing and LED strip patterns.
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Low battery warnings can:
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* help to ensure that you have time to safely land the aircraft.
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* help maintain the life and safety of your LiPo/LiFe batteries which should not be discharged below manufacturers recommendations.
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* Help ensure you have time to safely land the aircraft
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* Help maintain the life and safety of your LiPo/LiFe batteries, which should not be discharged below manufacturer recommendations
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Minimum and maximum cell voltages can be set, and these voltages are used to detect the amount of cells you are using.
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Minimum and maximum cell voltages can be set, and these voltages are used to detect the number of cells you are using.
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Per-cell monitoring is not supported, as we only use one ADC to read the battery voltage.
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@ -20,28 +19,31 @@ All targets support battery voltage monitoring unless status.
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When dealing with batteries **ALWAYS CHECK POLARITY!**
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Measure expected voltages first and then connect to flight controller, connecting to the flight controller with
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incorrect voltage or reversed polarity will likely fry your flight controller. Ensure that your flight controller
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has a voltage divider that is capable of measuring your particular battery voltage.
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Measure expected voltages **first** and then connect to flight controller. Powering the flight controller with
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incorrect voltage or reversed polarity will likely fry your flight controller. Ensure your flight controller
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has a voltage divider capable of measuring your particular battery voltage.
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### Naze32
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The Naze32 has an on-board battery divider circuit, connect your main battery to the VBAT connector.
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The Naze32 has an on-board battery divider circuit; just connect your main battery to the VBAT connector.
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**CAUTION:** When installing connection from main battery to the VBAT connector, be sure to first disconnect the main battery from the frame / power distribution board. Check the wiring very carefully before connecting battery again. Incorrect connections can immediately and completely destroy the flight controller and connected peripherals (ESC, GPS, Receiver etc.)
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**CAUTION:** When installing the connection from main battery to the VBAT connector, be sure to first disconnect the main battery from the frame/power distribution board. Check the wiring very carefully before connecting battery again. Incorrect connections can immediately and completely destroy the flight controller and connected peripherals (ESC, GPS, Receiver etc.).
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### CC3D
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The CC3D has no battery divider, create one that gives you a 3.3v MAXIMUM output when your battery is
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fully charged and connect the output from it to S5_IN/PA0/RC5.
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The CC3D has no battery divider. To use voltage monitoring, you must create a divider that gives a 3.3v
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MAXIMUM output when the main battery is fully charged. Connect the divider output to S5_IN/PA0/RC5.
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S5_IN/PA0/RC5 is Pin 7 on the 8 pin connector, second to last pin, opposite end from the GND/+5/PPM signal input.
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Notes:
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Note: When battery monitoring is enabled on the CC3D RC5 can no-longer be used for PWM input.
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* S5_IN/PA0/RC5 is Pin 7 on the 8 pin connector, second to last pin, on the opposite end from the
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GND/+5/PPM signal input.
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* When battery monitoring is enabled on the CC3D, RC5 can no-longer be used for PWM input.
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### Sparky
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See Sparky board chapter.
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See the (Sparky board chapter)[Board - Sparky.md].
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## Configuration
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@ -49,13 +51,13 @@ Enable the `VBAT` feature.
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Configure min/max cell voltages using the following CLI setting:
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`vbat_scale` - adjust this to match battery voltage to reported value.
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`vbat_scale` - Adjust this to match actual measured battery voltage to reported value.
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`vbat_max_cell_voltage` - maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, i.e. 43 = 4.3V
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`vbat_max_cell_voltage` - Maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, i.e. 43 = 4.3V
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`set vbat_warning_cell_voltage` - warning voltage per cell, this triggers battery out alarms, in 0.1V units, i.e. 34 = 3.4V
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`set vbat_warning_cell_voltage` - Warning voltage per cell; this triggers battery-out alarms, in 0.1V units, i.e. 34 = 3.4V
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`vbat_min_cell_voltage` - minimum voltage per cell, this triggers battery out alarms, in 0.1V units, i.e. 33 = 3.3V
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`vbat_min_cell_voltage` - Minimum voltage per cell; this triggers battery-out alarms, in 0.1V units, i.e. 33 = 3.3V
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e.g.
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@ -68,19 +70,22 @@ set vbat_min_cell_voltage = 33
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# Current Monitoring
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Current monitoring (Amperage) is supported by connecting a current meter to the appropriate current meter ADC input (See Board documentation).
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Current monitoring (amperage) is supported by connecting a current meter to the appropriate current meter ADC input (see the documentation for your particular board).
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When enabled, Amps, mAh used and capacity remaining are calculated and used by the telemetry and OLED display subsystems.
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When enabled, the following values calculated and used by the telemetry and OLED display subsystems:
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* Amps
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* mAh used
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* Capacity remaining
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## Configuration
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Enable current monitoring using the CLI command
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Enable current monitoring using the CLI command:
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```
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feature CURRENT_METER
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```
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Configure the current meter type using the `current_meter_type` settings as per the following table.
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Configure the current meter type using the `current_meter_type` settings here:
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| Value | Sensor Type |
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| ----- | ---------------------- |
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@ -88,40 +93,54 @@ Configure the current meter type using the `current_meter_type` settings as per
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| 1 | ADC/hardware sensor |
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| 2 | Virtual sensor |
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Configure capacity using the `battery_capacity` setting, which takes a value in mAh.
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Configure capacity using the `battery_capacity` setting, in mAh units.
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If you're using an OSD that expects the multiwii current meter output value, then set `multiwii_current_meter_output` to `1` (this multiplies amperage sent to MSP by 10).
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### ADC Sensor
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The current meter may need to be configured so that the value read at the ADC input matches actual current draw. Just like you need a voltmeter to correctly calibrate your voltage reading you also need an ammeter to calibrate your current sensor.
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Use the following settings to adjust calibration.
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The current meter may need to be configured so the value read at the ADC input matches actual current draw. Just like you need a voltmeter to correctly calibrate your voltage reading you also need an ammeter to calibrate the current sensor.
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Use the following settings to adjust calibration:
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`current_meter_scale`
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`current_meter_offset`
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### Virtual Sensor
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The virtual sensor uses the throttle position to calculate as estimated current value. This is useful when a real sensor is not available. The following settings adjust the calibration.
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The virtual sensor uses the throttle position to calculate an estimated current value. This is useful when a real sensor is not available. The following settings adjust the virtual sensor calibration:
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| Setting | Description |
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| ----------------------------- | -------------------------------------------------------- |
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| `current_meter_scale` | The throttle scaling factor [centiamps, i.e. 1/100th A] |
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| `current_meter_offset` | The current at zero throttle (while disarmed) [centiamps, i.e. 1/100th A] |
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There are two simple methods to tune the parameters depending in whether it is possible to measure current draw for your craft.
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There are two simple methods to tune these parameters: one uses a battery charger and another depends on actual current measurements.
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#### Tuning Using Battery Charger Measurement
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It may be difficult to adjust `current_meter_offset` using this method unless you can measure the actual current draw with the craft disarmed. Adjust `current_meter_scale` until the mAh draw reported by Cleanflight matches the charging data given by your battery charger after the flight (if the mAh draw is lower than reported by your battery charger, increase `current_meter_scale`, and vice-versa).
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#### Tuning Using Actual Current Measurements
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If you know your crafts current draw while disarmed (Imin), and at maximum throttle while armed (Imax), you can calculate the scaling factors using the following formulas where Tmax is maximum throttle offset (i.e. for `max_throttle` = 1850, Tmax = 1850 - 1000 = 850):
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If you know your craft's current draw while disarmed (Imin) and at maximum throttle while armed (Imax), calculate the scaling factors as follows:
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```
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current_meter_scale = (Imax - Imin) * 100000 / (Tmax + (Tmax * Tmax / 50))
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current_meter_offset = Imin * 100
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```
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e.g. For a maximum current of 34.2 A and minimum current of 2.8 A with `max_throttle` = 1850
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Note: Tmax is maximum throttle offset (i.e. for `max_throttle` = 1850, Tmax = 1850 - 1000 = 850)
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For example, assuming a maximum current of 34.2A, a minimum current of 2.8A, and a Tmax `max_throttle` = 1850:
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```
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current_meter_scale = (Imax - Imin) * 100000 / (Tmax + (Tmax * Tmax / 50))
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= (34.2 - 2.8) * 100000 / (850 + (850 * 850 / 50))
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= 205
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current_meter_offset = Imin * 100 = 280
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```
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#### Tuning Using Battery Charger Measurement
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If you cannot measure current draw directly, you can approximate it indirectly using your battery charger. The general method is:
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1. Fully charge your flight battery
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2. Fly your craft, using >50% of your battery pack capacity (estimated)
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3. Note Cleanflight's reported mAh draw
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4. Re-charge your flight battery, noting the mAh charging data needed to restore the pack to fully charged
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5. Adjust `current_meter_scale` to according to the ratio of actual mAh (given by the charger) to reported mAh (reported by Cleanflight)
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6. Repeat and test
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Note: it may be difficult to adjust `current_meter_offset` using this method unless you can measure the actual current draw with the craft disarmed.
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