module.yaml
4.91 KB
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__max_num_config_instances: &max_num_config_instances 2
module_name: battery
parameters:
- group: Battery Calibration
definitions:
BAT${i}_V_EMPTY:
description:
short: Empty cell voltage (5C load)
long: |
Defines the voltage where a single cell of battery 1 is considered empty.
The voltage should be chosen before the steep dropoff to 2.8V. A typical
lithium battery can only be discharged down to 10% before it drops off
to a voltage level damaging the cells.
type: float
unit: V
decimal: 2
increment: 0.01
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [3.5, 3.5]
BAT${i}_V_CHARGED:
description:
short: Full cell voltage (5C load)
long: |
Defines the voltage where a single cell of battery 1 is considered full
under a mild load. This will never be the nominal voltage of 4.2V
type: float
unit: V
decimal: 2
increment: 0.01
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [4.05, 4.05]
BAT${i}_V_LOAD_DROP:
description:
short: Voltage drop per cell on full throttle
long: |
This implicitely defines the internal resistance
to maximum current ratio for battery 1 and assumes linearity.
A good value to use is the difference between the
5C and 20-25C load. Not used if BAT${i}_R_INTERNAL is
set.
type: float
unit: V
min: 0.07
max: 0.5
decimal: 2
increment: 0.01
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [0.3, 0.3]
BAT${i}_R_INTERNAL:
description:
short: Explicitly defines the per cell internal resistance for battery ${i}
long: |
If non-negative, then this will be used in place of
BAT${i}_V_LOAD_DROP for all calculations.
type: float
unit: Ohm
min: -1.0
max: 0.2
decimal: 2
increment: 0.01
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [-1.0, -1.0]
BAT${i}_N_CELLS:
description:
short: Number of cells for battery ${i}.
long: |
Defines the number of cells the attached battery consists of.
type: enum
values:
2: 2S Battery
3: 3S Battery
4: 4S Battery
5: 5S Battery
6: 6S Battery
7: 7S Battery
8: 8S Battery
9: 9S Battery
10: 10S Battery
11: 11S Battery
12: 12S Battery
13: 13S Battery
14: 14S Battery
15: 15S Battery
16: 16S Battery
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [0, 0]
BAT${i}_CAPACITY:
description:
short: Battery ${i} capacity.
long: |
Defines the capacity of battery ${i} in mAh.
type: float
unit: mAh
min: -1.0
max: 100000
decimal: 0
increment: 50
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [-1.0, -1.0]
BAT${i}_SOURCE:
description:
short: Battery ${i} monitoring source.
long: |
This parameter controls the source of battery data. The value 'Power Module'
means that measurements are expected to come from a power module. If the value is set to
'External' then the system expects to receive mavlink battery status messages.
If the value is set to 'ESCs', the battery information are taken from the esc_status message.
This requires the ESC to provide both voltage as well as current.
type: enum
values:
-1: Disabled
0: Power Module
1: External
2: ESCs
reboot_required: true
num_instances: *max_num_config_instances
instance_start: 1
default: [0, -1]