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Merge pull request #9212 from RomanLut/simulate-battery-any-sensor

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HITL: simulate battery voltage with any sensor
This commit is contained in:
Paweł Spychalski 2023-10-25 09:27:33 +02:00 • committed by GitHub
commit 2ac549bfba
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4 changed files with 15 additions and 10 deletions
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8
src/main/fc/fc_msp.c
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@ -3738,15 +3738,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT); sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
} }
#if defined(USE_FAKE_BATT_SENSOR)
if (SIMULATOR_HAS_OPTION(HITL_EXT_BATTERY_VOLTAGE)) { if (SIMULATOR_HAS_OPTION(HITL_EXT_BATTERY_VOLTAGE)) {
fakeBattSensorSetVbat(sbufReadU8(src) * 10); simulatorData.vbat = sbufReadU8(src);
} else { } else {
#endif simulatorData.vbat = SIMULATOR_FULL_BATTERY;
fakeBattSensorSetVbat((uint16_t)(SIMULATOR_FULL_BATTERY * 10.0f));
#if defined(USE_FAKE_BATT_SENSOR)
} }
#endif
if (SIMULATOR_HAS_OPTION(HITL_AIRSPEED)) { if (SIMULATOR_HAS_OPTION(HITL_AIRSPEED)) {
simulatorData.airSpeed = sbufReadU16(src); simulatorData.airSpeed = sbufReadU16(src);

5
src/main/fc/runtime_config.c
View file

@ -179,7 +179,8 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void)
#ifdef USE_SIMULATOR #ifdef USE_SIMULATOR
simulatorData_t simulatorData = { simulatorData_t simulatorData = {
.flags = 0, .flags = 0,
.debugIndex = 0 .debugIndex = 0,
.vbat = 0
}; };
#endif #endif

2
src/main/fc/runtime_config.h
View file

@ -171,7 +171,7 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void);
#define SIMULATOR_MSP_VERSION 2 // Simulator MSP version #define SIMULATOR_MSP_VERSION 2 // Simulator MSP version
#define SIMULATOR_BARO_TEMP 25 // °C #define SIMULATOR_BARO_TEMP 25 // °C
#define SIMULATOR_FULL_BATTERY 12.6f // Volts #define SIMULATOR_FULL_BATTERY 126 // Volts*10
#define SIMULATOR_HAS_OPTION(flag) ((simulatorData.flags & flag) != 0) #define SIMULATOR_HAS_OPTION(flag) ((simulatorData.flags & flag) != 0)
typedef enum { typedef enum {

10
src/main/sensors/battery.c
View file

@ -84,7 +84,7 @@ static bool batteryUseCapacityThresholds = false;
static bool batteryFullWhenPluggedIn = false; static bool batteryFullWhenPluggedIn = false;
static bool profileAutoswitchDisable = false; static bool profileAutoswitchDisable = false;
static uint16_t vbat = 0; // battery voltage in 0.1V steps (filtered) static uint16_t vbat = 0; // battery voltage in 0.01V steps (filtered)
static uint16_t powerSupplyImpedance = 0; // calculated impedance in milliohm static uint16_t powerSupplyImpedance = 0; // calculated impedance in milliohm
static uint16_t sagCompensatedVBat = 0; // calculated no load vbat static uint16_t sagCompensatedVBat = 0; // calculated no load vbat
static bool powerSupplyImpedanceIsValid = false; static bool powerSupplyImpedanceIsValid = false;
@ -297,6 +297,14 @@ static void updateBatteryVoltage(timeUs_t timeDelta, bool justConnected)
vbat = 0; vbat = 0;
break; break;
} }
#ifdef USE_SIMULATOR
if (ARMING_FLAG(SIMULATOR_MODE_HITL) && SIMULATOR_HAS_OPTION(HITL_SIMULATE_BATTERY)) {
vbat = ((uint16_t)simulatorData.vbat)*10;
return;
}
#endif
if (justConnected) { if (justConnected) {
pt1FilterReset(&vbatFilterState, vbat); pt1FilterReset(&vbatFilterState, vbat);
} else { } else {