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HITL: simulate battery voltage with any sensor #9212

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merged 1 commit into from
Oct 25, 2023
Merged

HITL: simulate battery voltage with any sensor #9212

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8 changes: 2 additions & 6 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -3607,15 +3607,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
}

#if defined(USE_FAKE_BATT_SENSOR)
if (SIMULATOR_HAS_OPTION(HITL_EXT_BATTERY_VOLTAGE)) {
fakeBattSensorSetVbat(sbufReadU8(src) * 10);
simulatorData.vbat = sbufReadU8(src);
} else {
#endif
fakeBattSensorSetVbat((uint16_t)(SIMULATOR_FULL_BATTERY * 10.0f));
#if defined(USE_FAKE_BATT_SENSOR)
simulatorData.vbat = SIMULATOR_FULL_BATTERY;
}
#endif

if (SIMULATOR_HAS_OPTION(HITL_AIRSPEED)) {
simulatorData.airSpeed = sbufReadU16(src);
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5 changes: 3 additions & 2 deletions src/main/fc/runtime_config.c
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Expand Up @@ -179,7 +179,8 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void)

#ifdef USE_SIMULATOR
simulatorData_t simulatorData = {
.flags = 0,
.debugIndex = 0
.flags = 0,
.debugIndex = 0,
.vbat = 0
};
#endif
2 changes: 1 addition & 1 deletion src/main/fc/runtime_config.h
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Expand Up @@ -170,7 +170,7 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void);

#define SIMULATOR_MSP_VERSION 2 // Simulator MSP version
#define SIMULATOR_BARO_TEMP 25 // °C
#define SIMULATOR_FULL_BATTERY 12.6f // Volts
#define SIMULATOR_FULL_BATTERY 126 // Volts*10
#define SIMULATOR_HAS_OPTION(flag) ((simulatorData.flags & flag) != 0)

typedef enum {
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10 changes: 9 additions & 1 deletion src/main/sensors/battery.c
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Expand Up @@ -84,7 +84,7 @@ static bool batteryUseCapacityThresholds = false;
static bool batteryFullWhenPluggedIn = false;
static bool profileAutoswitchDisable = false;

static uint16_t vbat = 0; // battery voltage in 0.1V steps (filtered)
static uint16_t vbat = 0; // battery voltage in 0.01V steps (filtered)
static uint16_t powerSupplyImpedance = 0; // calculated impedance in milliohm
static uint16_t sagCompensatedVBat = 0; // calculated no load vbat
static bool powerSupplyImpedanceIsValid = false;
Expand Down Expand Up @@ -297,6 +297,14 @@ static void updateBatteryVoltage(timeUs_t timeDelta, bool justConnected)
vbat = 0;
break;
}

#ifdef USE_SIMULATOR
if (ARMING_FLAG(SIMULATOR_MODE_HITL) && SIMULATOR_HAS_OPTION(HITL_SIMULATE_BATTERY)) {
vbat = ((uint16_t)simulatorData.vbat)*10;
return;
}
#endif

if (justConnected) {
pt1FilterReset(&vbatFilterState, vbat);
} else {
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