battery: report over voltage

PX4 · Nov 6, 2023 · ae888b7 · ae888b7
1 parent 54d26e0
commit ae888b7
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Showing 2 changed files with 15 additions and 0 deletions.
diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp
@@ -166,6 +166,7 @@ battery_status_s Battery::getBatteryStatus()
 	battery_status.id = static_cast<uint8_t>(_index);
 	battery_status.warning = _warning;
 	battery_status.timestamp = hrt_absolute_time();
+	battery_status.faults = determineFaults();
 	return battery_status;
 }
 
@@ -267,6 +268,19 @@ uint8_t Battery::determineWarning(float state_of_charge)
 	}
 }
 
+uint16_t Battery::determineFaults()
+{
+	uint16_t faults{0};
+
+	if ((_params.n_cells > 0)
+	    && (_voltage_v > (_params.n_cells * _params.v_charged * 1.05f))) {
+		// Reported as a "spike" since "over-voltage" does not exist in MAV_BATTERY_FAULT
+		faults |= (1 << battery_status_s::BATTERY_FAULT_SPIKES);
+	}
+
+	return faults;
+}
+
 void Battery::computeScale()
 {
 	const float voltage_range = (_params.v_charged - _params.v_empty);

diff --git a/src/lib/battery/battery.h b/src/lib/battery/battery.h
@@ -150,6 +150,7 @@ class Battery : public ModuleParams
 	float calculateStateOfChargeVoltageBased(const float voltage_v, const float current_a);
 	void estimateStateOfCharge();
 	uint8_t determineWarning(float state_of_charge);
+	uint16_t determineFaults();
 	void computeScale();
 	float computeRemainingTime(float current_a);