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Improve Virtual Current Sensor

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Virtual current sensor improved by taking into account ability to run motors in Nav modes with throttle low and motor stop active.
This commit is contained in:
breadoven 2020-12-03 23:31:54 +00:00
parent 416670ddc5
commit 2e38d12f32
1 changed files with 11 additions and 1 deletions
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12
src/main/sensors/battery.c
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@ -44,6 +44,7 @@
#include "flight/mixer.h"
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
#include "config/feature.h"
@ -467,7 +468,16 @@ void currentMeterUpdate(timeUs_t timeDelta)
amperage = batteryMetersConfig()->current.offset;
if (ARMING_FLAG(ARMED)) {
throttleStatus_e throttleStatus = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC);
int32_t throttleOffset = ((throttleStatus == THROTTLE_LOW) && feature(FEATURE_MOTOR_STOP)) ? 0 : (int32_t)rcCommand[THROTTLE] - 1000;
navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
bool allNav = navConfig()->general.flags.nav_overrides_motor_stop == NOMS_ALL_NAV && posControl.navState != NAV_STATE_IDLE;
bool autoNav = navConfig()->general.flags.nav_overrides_motor_stop == NOMS_AUTO_ONLY && (stateFlags & (NAV_AUTO_RTH | NAV_AUTO_WP));
int32_t throttleOffset;
if (allNav || autoNav) { // account for motors running in Nav modes with throttle low + motor stop
throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
} else {
throttleOffset = ((throttleStatus == THROTTLE_LOW) && feature(FEATURE_MOTOR_STOP)) ? 0 : (int32_t)rcCommand[THROTTLE] - 1000;
}
int32_t throttleFactor = throttleOffset + (throttleOffset * throttleOffset / 50);
amperage += throttleFactor * batteryMetersConfig()->current.scale / 1000;
}