Update battery characteristics for more accurate battery level estima…

…tion
tiiuae · Feb 12, 2024 · 2dc0471 · 2dc0471
1 parent ab2f774
commit 2dc0471
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Showing 4 changed files with 61 additions and 19 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4400_ssrc_fog_x b/ROMFS/px4fmu_common/init.d/airframes/4400_ssrc_fog_x
@@ -65,23 +65,23 @@ param set-default UAVCAN_EC_FUNC4 104
 param set-default MPC_XY_VEL_P_ACC 2.4
 
 # Battery parameters
+# Ref: tattu 6500mah 4s
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_CHARGED 4.2
-param set-default BAT1_V_EMPTY 3.6
 param set-default BAT1_V_DIV 18.1
-param set-default BAT1_R_INTERNAL -1.0
-param set-default BAT1_V_LOAD_DROP 0.3000
+param set-default BAT1_R_INTERNAL 0.0011
 param set-default BAT1_V_EMPTY 3.5000
 param set-default BAT1_SOURCE 0
+param set-default BAT1_CAPACITY 6000
+
 
 param set-default BAT2_N_CELLS 4
 param set-default BAT2_V_CHARGED 4.2
-param set-default BAT2_V_EMPTY 3.6
 param set-default BAT2_V_DIV 18.1
-param set-default BAT2_R_INTERNAL -1.0
-param set-default BAT2_V_LOAD_DROP 0.3000
+param set-default BAT2_R_INTERNAL 0.0011
 param set-default BAT2_V_EMPTY 3.5000
 param set-default BAT2_SOURCE 0
+param set-default BAT2_CAPACITY 6000
 
 # Enable LL40LS in i2c
 param set-default SENS_EN_LL40LS 2

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4401_ssrc_fog_x_tmotor b/ROMFS/px4fmu_common/init.d/airframes/4401_ssrc_fog_x_tmotor
@@ -61,10 +61,25 @@ param set-default HIL_ACT_FUNC4 104
 param set-default MPC_XY_VEL_P_ACC 2.4
 
 # Battery parameters
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_CHARGED 4.2
-param set-default BAT1_V_EMPTY 3.6
+# Ref: t-drone 22000mah 6s Lion
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_CHARGED 4.1
+param set-default BAT1_V_EMPTY 3.2
 param set-default BAT1_V_DIV 18.1
+param set-default BAT1_SOURCE 0
+# Rough guess 50 mOhm
+param set-default BAT1_R_INTERNAL 0.0050
+param set-default BAT1_CAPACITY 22000
+
+# Ref: t-drone 22000mah 6s Lion
+param set-default BAT2_N_CELLS 6
+param set-default BAT2_V_CHARGED 4.1
+param set-default BAT2_V_EMPTY 3.2
+param set-default BAT2_V_DIV 18.1
+param set-default BAT2_SOURCE 0
+# Rough guess 50 mOhm
+param set-default BAT2_R_INTERNAL 0.0050
+param set-default BAT2_CAPACITY 22000
 
 # Enable LL40LS in i2c
 param set-default SENS_EN_LL40LS 2
@@ -95,4 +110,4 @@ param set-default GPS_SAT_INFO 1
 param set-default COM_RC_OVERRIDE 0
 
 # Change current sense shunt resistor value
-param set-default INA226_SHUNT 0.00025
+param set-default INA226_SHUNT 0.0005
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4420_ssrc_arwing b/ROMFS/px4fmu_common/init.d/airframes/4420_ssrc_arwing
@@ -41,14 +41,23 @@ param set-default FW_AIRSPD_STALL 12.0
 param set-default FW_AIRSPD_TRIM 18.0
 
 # Battery parameters
+# Ref: tattu 6500mah 4s
 param set-default BAT1_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.0050
-param set-default BAT1_V_EMPTY 3.6000
-param set-default BAT1_V_LOAD_DROP 0.1000
+param set-default BAT1_V_CHARGED 4.2
+param set-default BAT1_V_DIV 18.1
+param set-default BAT1_R_INTERNAL 0.0011
+param set-default BAT1_V_EMPTY 3.5000
+param set-default BAT1_SOURCE 0
+param set-default BAT1_CAPACITY 1800
 
-param set-default BAT2_R_INTERNAL 0.0050
-param set-default BAT2_V_EMPTY 3.6000
-param set-default BAT2_V_LOAD_DROP 0.1000
+
+param set-default BAT2_N_CELLS 4
+param set-default BAT2_V_CHARGED 4.2
+param set-default BAT2_V_DIV 18.1
+param set-default BAT2_R_INTERNAL 0.0011
+param set-default BAT2_V_EMPTY 3.5000
+param set-default BAT2_SOURCE 0
+param set-default BAT2_CAPACITY 1800
 
 # Disable internal magnetometer
 param set CAL_MAG0_PRIO 0

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4430_ssrc_strivermini b/ROMFS/px4fmu_common/init.d/airframes/4430_ssrc_strivermini
@@ -81,10 +81,25 @@ param set-default FW_AIRSPD_STALL 12.0
 param set-default FW_AIRSPD_TRIM 18.0
 
 # Battery parameters
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_V_CHARGED 4.2
-param set-default BAT1_V_EMPTY 3.6
+# Ref: t-drone 22000mah 6s Lion
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_CHARGED 4.1
+param set-default BAT1_V_EMPTY 3.2
 param set-default BAT1_V_DIV 18.1
+param set-default BAT1_SOURCE 0
+# Rough guess 50 mOhm
+param set-default BAT1_R_INTERNAL 0.0050
+param set-default BAT1_CAPACITY 22000
+
+# Ref: t-drone 22000mah 6s Lion
+param set-default BAT2_N_CELLS 6
+param set-default BAT2_V_CHARGED 4.1
+param set-default BAT2_V_EMPTY 3.2
+param set-default BAT2_V_DIV 18.1
+param set-default BAT2_SOURCE 0
+# Rough guess 50 mOhm
+param set-default BAT2_R_INTERNAL 0.0050
+param set-default BAT2_CAPACITY 22000
 
 # Disable internal magnetometer
 param set CAL_MAG0_PRIO 0
@@ -124,3 +139,6 @@ param set-default VT_FW_MIN_ALT 5
 # QuadChute angle limits
 param set-default VT_FW_QC_P 35
 param set-default VT_FW_QC_R 60
+
+# Change current sense shunt resistor value
+param set-default INA226_SHUNT 0.0005