* Enhancement: State of health, and max_error value is added. Both shows battery health of SMBUS smart battery.
* Enhancement: BAT_C_MULT parameter is introduced. This is for high-current capable SMBUS-based battery.
As SMBUS only provides 16-bit for current, it could only be +-32768mA which is about +-32A.
But with proper treatment, it could be extended with little accuracy loss.
This factor can be set for individual battery system with available information.
* Relative SOC introduced. Proper SMBUS battery should provide percentage of remaining battery
directly. Therefore it does not have to be computed like before.
* State of Health introduced. Proper SMBUS battery should provide SOH value.
* Max error: this shows estimation error of BMS.
* Enhancement: With smart battery, precise estimation of time remaining is provided
with impedance track. It is unit of minute, so 60 seconds multiplied.
Update rate of this is not fast, but very useful.
Co-authored-by: Hyon Lim <lim@uvify.com>
Fixes case where a UAVCAN SensorBridge has callback channels available,
but NuttX / uORB does not have an additional driver / topic instance
available.
@fury1895 reported very valuable feedback from testing
the acceleration feed-forward on VTOL:
> MPC_JERK_MAX 4.5 (from 5 on it felt too aggressive)
> MPC_JERK_AUTO 4
> some hovering, some transitions, and a mission. Everything good.
> I'd say you feel the difference in position mode and you see it in
> Auto modes. Great improvement!
Previously acceleration setpoints were not executed and just used
to pass a possible rough initialization value for the next task. Now
they get executed by the multicopter controller and hence
overwriting them with rough estimates doesn't work anymore.
This mode was just kept as an example after
its usage in a single case. It's basically untested
and doesn't make much sense anymore since it's
incompatible with the jerk limited trajectory
implementations. It's implementation only switched
hte configuration parameter of the velocity resulting
from maximum stick deflection to be
MPC_XY_VEL_MAX instead of MPC_VEL_MANUAL.
This is according to todays understanding undesired
because when hitting that limit the position
controller has no room for corrections anymore.
Also it saves some flash space on omnibus to remove
the task at this point and makes romm for the
acceleration feed-forward.
bresch
kamilritz
Julian Oes
Daniel Agar
Hyon Lim
Silvan Fuhrer
David Jablonski
Matthias Grob
Timothy Scott
Hamish Willee
JacobCrabill
mohammad
Beat Küng
TSC21
Roman Dvořák
JaeyoungLim