battery - fix BATTERY_NOT_PRESENT detection, detection logic change #13599
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Detection logic is refactored - battery voltage delta is tested each 50ms, voltage is considered stable when difference of last 10 samples is smaller than 100mV This makes stable threshold more forgiving than betaflight#13350 (time for comparison is 50 instead of 500ms).
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- voltageStablePrevFiltered every time delta is exceeded
- voltage within range is ANDed over 100ms periods
- voltage is stable if it was within range for 10 out of 11 periods
- slowly changing voltage will update threshold, but voltage will be
considered stable
- 1 update/s (100mV/s) is tolerated
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battery - improve stable voltage detection
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Tested, works fine on H7NANO. I've extended detection window to 1s - now filtered voltage is close to final value. |
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With my Mobula7 (HAMO/CRAZYBEEF4FR(STM32F411), ELRS via UART), this has mostly restored the -ON_USB 'no beep if USB only' behaviour. Now it only gives the several rapid startup beeps and usually just a couple of beeper beeps before it quietens for good unless the ON_USB setting is changed. No beeps if the beeper mode is active. Constant beeps if the flight battery is connected, with correct voltage being shown. So pretty much same as 4.4.x behaviour.
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@pfeerick it takes some time for the voltage filter to stabilize plus 1s detection window. Are the initial beeps a big problem? |
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Not as far as I'm concerned... If I were being pedantic, sure, it should do just the initial fast startup beeps and zip it... but my preference is more that it doesn't beep incessantly all the frigging time if you have beeper active on middle position, and don't have the handset on. 🥳 |
src/main/sensors/voltage.c
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| if (abs(vm->voltageStablePrevFiltered - vm->displayFiltered) > VOLTAGE_STABLE_MAX_DELTA) { | ||
| // reset stable voltage reference | ||
| vm->voltageStablePrevFiltered = vm->displayFiltered; | ||
| vm->voltageStableBits &= ~BIT(0); // woltage threshold exceeded in this period |
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typo: woltage
i would rather define a enum, ~BIT(0) is not a 100% selfexplenatory term: IS_STABLE in this case.
typedef enum voltageStable_e {
VOLTAGE_UNSTABLE = 0,
VOLTAGE_IS_STABLE = ~VOLTAGE_UNSTABLE
} voltageStable_t;or something like this. Or do we already have a global enum type for this?
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It is just clearing of lowest bit. IMO &= ~(bits) is quite idiomatic in C and used in lot of places of BF.
I'll update the comment
| vm->voltageStableBits &= ~BIT(0); // woltage threshold exceeded in this period | ||
| } | ||
| if (cmp32(now, vm->voltageStableLastUpdate) >= VOLTAGE_STABLE_TICK_MS) { | ||
| vm->voltageStableBits = (vm->voltageStableBits << 1) | BIT(0); // start with 'stable' state |
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is | BIT(0) really necessary as << 1 shifts a 0 already?
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It it bit zero (LSB), not bit with value of 0. New 1 bit is shifted in on each update and possibly cleared above.
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backport to 4.5-maintenance? |
…etaflight#13599) * battery - fix BATTERY_NOT_PRESENT detection, detection logic change Detection logic is refactored - battery voltage delta is tested each 50ms, voltage is considered stable when difference of last 10 samples is smaller than 100mV This makes stable threshold more forgiving than betaflight#13350 (time for comparison is 50 instead of 500ms). * battery - improve stable voltage detection - voltageStablePrevFiltered every time delta is exceeded - voltage within range is ANDed over 100ms periods - voltage is stable if it was within range for 10 out of 11 periods - slowly changing voltage will update threshold, but voltage will be considered stable - 1 update/s (100mV/s) is tolerated * battery - fuix typos, improve comments
…change (#13623) battery - fix BATTERY_NOT_PRESENT detection, detection logic change (#13599) * battery - fix BATTERY_NOT_PRESENT detection, detection logic change Detection logic is refactored - battery voltage delta is tested each 50ms, voltage is considered stable when difference of last 10 samples is smaller than 100mV This makes stable threshold more forgiving than #13350 (time for comparison is 50 instead of 500ms). * battery - improve stable voltage detection - voltageStablePrevFiltered every time delta is exceeded - voltage within range is ANDed over 100ms periods - voltage is stable if it was within range for 10 out of 11 periods - slowly changing voltage will update threshold, but voltage will be considered stable - 1 update/s (100mV/s) is tolerated * battery - fuix typos, improve comments Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
Detection logic is refactored:
slowly changing voltage will update threshold, but voltage will be considered stable, 1 update/s (100mV/s) is tolerated