AP_BatteryMonitor: add current scaler for UAVCAN

ArduPilot · Jan 18, 2022 · bff6a20 · bff6a20
1 parent 21b7a8b
commit bff6a20
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Showing 2 changed files with 18 additions and 3 deletions.
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
@@ -21,6 +21,17 @@
 
 extern const AP_HAL::HAL& hal;
 
+const AP_Param::GroupInfo AP_BattMonitor_UAVCAN::var_info[] = {
+
+    // @Param: CUR_MULT
+    // @DisplayName: Scales reported power monitor current
+    // @Description: Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
+    // @Range: .1 10
+    // @User: Advanced
+    AP_GROUPINFO("CUR_MULT", 27, AP_BattMonitor_UAVCAN, _cur_mult, 1.0),
+    AP_GROUPEND
+};
+
 UC_REGISTRY_BINDER(BattInfoCb, uavcan::equipment::power::BatteryInfo);
 UC_REGISTRY_BINDER(BattInfoAuxCb, ardupilot::equipment::power::BatteryInfoAux);
 UC_REGISTRY_BINDER(MpptStreamCb, mppt::Stream);
@@ -30,6 +41,9 @@ AP_BattMonitor_UAVCAN::AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor
     AP_BattMonitor_Backend(mon, mon_state, params),
     _type(type)
 {
+    AP_Param::setup_object_defaults(this,var_info);
+    _state.var_info = var_info;
+
     // starts with not healthy
     _state.healthy = false;
 }
@@ -125,7 +139,7 @@ void AP_BattMonitor_UAVCAN::update_interim_state(const float voltage, const floa
     WITH_SEMAPHORE(_sem_battmon);
 
     _interim_state.voltage = voltage;
-    _interim_state.current_amps = current;
+    _interim_state.current_amps = _cur_mult * current;
     _soc = soc;
 
     if (!isnanf(temperature_K) && temperature_K > 0) {

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h
@@ -22,6 +22,8 @@ class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
     /// Constructor
     AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params &params);
 
+    static const struct AP_Param::GroupInfo var_info[];
+
     void init() override {}
 
     /// Read the battery voltage and current.  Should be called at 10hz
@@ -54,7 +56,6 @@ class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
 private:
     void handle_battery_info(const BattInfoCb &cb);
     void handle_battery_info_aux(const BattInfoAuxCb &cb);
-
     void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc);
 
     static bool match_battery_id(uint8_t instance, uint8_t battery_id) {
@@ -94,7 +95,7 @@ class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
     bool _has_battery_info_aux;
     uint8_t _instance;                  // instance of this battery monitor
     uavcan::Node<0> *_node;             // UAVCAN node id
-
+    AP_Float _cur_mult;                 // scaling multiplier applied to current reports for adjustment
     // MPPT variables
     struct {
         bool is_detected;               // true if this UAVCAN device is a Packet Digital MPPT