When the system developers incorporate the changes to the software release, Power efficiency in watts/distance could be displayed and if the battery capacity is entered, "est. time remaining" could be available.
I noticed that during the "test -> battery" only 1 reading was displayed and it was inaccurate.
I changed the 'sensors' file so that the battery read continues until you hit Enter to exit.
To incorporate the Power Sensor I had to modify these files:
sensors
defines.h
test
config.h
APM_Config.h
ArduPilotMega
Here are the changes I made:
sensors
#if POWER_SENSOR == 1
void read_battery(void)
{
battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN1)) * .1 + battery_voltage1 * .9; //reads power sensor voltage pin
battery_voltage2 = BATTERY_CURRENT(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9; //reads power sensor current pin
battery_current = battery_voltage2;
}
#endif
#if BATTERY_EVENT == 1
void read_battery(void)
{
battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN1)) * .1 + battery_voltage1 * .9;
battery_voltage2 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9;
battery_voltage3 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN3)) * .1 + battery_voltage3 * .9;
battery_voltage4 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN4)) * .1 + battery_voltage4 * .9;
#if BATTERY_TYPE == 0
if(battery_voltage3 < LOW_VOLTAGE)
low_battery_event();
battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream
#endif
#if BATTERY_TYPE == 1
if(battery_voltage4 < LOW_VOLTAGE)
low_battery_event();
battery_voltage = battery_voltage4; // set total battery voltage, for telemetry stream
#endif
}
#endif
defines.h
#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
#define BATTERY_CURRANT(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_DIV_RATIO
test
static int8_t
test_battery(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
#if POWER_SENSOR == 1
while(1){
for (int i = 0; i < 20; i++){
delay(20);
read_battery();
}
Serial.printf_P(PSTR("Volts:"));
Serial.print(battery_voltage1, 2); //power sensor voltage pin
Serial.print(" Amps:");
Serial.println(battery_voltage2, 2); //power sensor current pin
if(Serial.available() > 0){
return (0);
}
}
#else
Serial.printf_P(PSTR("Power Sensor Not enabled\n"));
#endif
delay(3000);
#if BATTERY_EVENT == 1
while(1){
for (int i = 0; i < 20; i++){
delay(20);
read_battery();
}
Serial.printf_P(PSTR("Volts: 1:"));
Serial.print(battery_voltage1, 4);
Serial.print(" 2:");
Serial.print(battery_voltage2, 4);
Serial.print(" 3:");
Serial.print(battery_voltage3, 4);
Serial.print(" 4:");
Serial.println(battery_voltage4, 4);
if(Serial.available() > 0){
return (0);
}
}
#else
Serial.printf_P(PSTR("Battery Event Not enabled\n"));
#endif
delay(3000);
}
config.h
//////////////////////////////////////////////////////////////////////////////
// Battery monitoring
//
#ifndef POWER_SENSOR
# define POWER_SENSOR DISABLED
#endif
#ifndef BATTERY_EVENT
# define BATTERY_EVENT DISABLED
#endif
#ifndef BATTERY_TYPE
# define BATTERY_TYPE 0
#endif
#ifndef LOW_VOLTAGE
# define LOW_VOLTAGE 11.4
#endif
#ifndef VOLT_DIV_RATIO
# define VOLT_DIV_RATIO 3.0
#endif
#ifndef CURR_DIV_RATIO
# define CURR_DIV_RATIO 3.0
#endif
APM_Config.h
// Battery monitoring
#define POWER_SENSOR ENABLED
#define BATTERY_EVENT DISABLED
#define BATTERY_TYPE 0
#define LOW_VOLTAGE 9.6
#define VOLT_DIVRATIO 15.7 //AttoPilot sensor voltage ratio (Minor adjustments to these values
#define CURR_DIV_RATIO 30.35 //AttoPilot sensor current ratio allow calibration to desired accuracy)
ArduPilotMega
// Sensors
// --------
float airpressure_raw; // Airspeed Sensor - is a float to better handle filtering
int airpressure_offset; // analog air pressure sensor while still
int airpressure; // airspeed as a pressure value
float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter
float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery Voltage of cell 1, initialized above threshold for filter
float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1+2, initialized above threshold for filter
float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1+2+3, initialized above threshold for filter
float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1+2+3+4, initialized above threshold for filter
float battery_current;
