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AP_BattMonitor: ESC: integrate consumed mah if not provided by ESC #27672

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Jul 30, 2024
+20 −6
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AP_BattMonitor: ESC: integrate consumed mah if not provided by ESC #27672

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23 changes: 17 additions & 6 deletions libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,8 +59,8 @@ void AP_BattMonitor_ESC::read(void)
float voltage_sum = 0;
float current_sum = 0;
float temperature_sum = 0;
float consumed_mah_sum = 0.0;
uint32_t highest_ms = 0;
_state.consumed_mah = delta_mah;

const bool all_enabled = _mask == 0;
for (uint8_t i=0; i<ESC_TELEM_MAX_ESCS; i++) {
Expand All @@ -77,7 +77,8 @@ void AP_BattMonitor_ESC::read(void)
if (telem.get_consumption_mah(i, consumption_mah)) {
// accumulate consumed_sum regardless of age, to cope with ESC
// dropping out
_state.consumed_mah += consumption_mah;
consumed_mah_sum += consumption_mah;
have_consumed_mah = true;
}

if (telem.get_voltage(i, voltage)) {
Expand All @@ -87,6 +88,7 @@ void AP_BattMonitor_ESC::read(void)

if (telem.get_current(i, current)) {
current_sum += current;
have_current = true;
}

if (telem.get_temperature(i, temperature_cdeg)) {
Expand Down Expand Up @@ -117,10 +119,19 @@ void AP_BattMonitor_ESC::read(void)
_state.last_time_micros = highest_ms * 1000;
_state.temperature_time = highest_ms;

if (current_sum > 0) {
// if we have ever got a current value then we know we have a
// current sensor
have_current = true;
const uint32_t now_us = AP_HAL::micros();
const uint32_t dt_us = now_us - last_read_us;
last_read_us = now_us;

if (have_consumed_mah) {
// Report the cumulative consumed mah as reported by the ESCs
// delta_mah allows reset_remaining to function without being able to reset the values sent by the ESCs
_state.consumed_mah = delta_mah + consumed_mah_sum;

} else if (have_current) {
// ESCs provide current but not consumed mah, integrate manually
update_consumed(_state, dt_us);

}
}

Expand Down
3 changes: 3 additions & 0 deletions libraries/AP_BattMonitor/AP_BattMonitor_ESC.h
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Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,11 @@ class AP_BattMonitor_ESC :public AP_BattMonitor_Backend
AP_Int32 _mask;

bool have_current;
bool have_consumed_mah;
bool have_temperature;
float delta_mah;

uint32_t last_read_us;
};

#endif // AP_BATTERY_ESC_ENABLED
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