BatteryStatus: remove current_filtered_a

Signed-off-by: Silvan Fuhrer <[email protected]>

msg/BatteryStatus.msg

@@ -3,7 +3,6 @@ bool connected				# Whether or not a battery is connected, based on a voltage th
 float32 voltage_v			# Battery voltage in volts, 0 if unknown
 float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
 float32 current_a			# Battery current in amperes, -1 if unknown
-float32 current_filtered_a	# Battery current in amperes, filtered, 0 if unknown
 float32 current_average_a	# Battery current average in amperes (for FW average in level flight), -1 if unknown
 float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
 float32 remaining			# From 1 to 0, -1 if unknown

src/drivers/batt_smbus/batt_smbus.cpp

@@ -122,7 +122,6 @@ void BATT_SMBUS::RunImpl()
 	ret |= _interface->read_word(BATT_SMBUS_CURRENT, result);
 
 	new_report.current_a = (-1.0f * ((float)(*(int16_t *)&result)) / 1000.0f) * _c_mult;
-	new_report.current_filtered_a = new_report.current_a;
 
 	// Read average current.
 	ret |= _interface->read_word(BATT_SMBUS_AVERAGE_CURRENT, result);

src/drivers/cyphal/Subscribers/legacy/LegacyBatteryInfo.hpp

@@ -77,7 +77,6 @@ class UavcanLegacyBatteryInfoSubscriber : public UavcanDynamicPortSubscriber
 		battery_status_s bat_status {0};
 		bat_status.timestamp = hrt_absolute_time();
 		bat_status.voltage_filtered_v = bat_info.voltage;
-		bat_status.current_filtered_a = bat_info.current;
 		bat_status.current_average_a = bat_info.average_power_10sec;
 		bat_status.remaining = bat_info.state_of_charge_pct / 100.0f;
 		bat_status.scale = -1;

src/drivers/rc/crsf_rc/CrsfRc.cpp

@@ -225,7 +225,7 @@ void CrsfRc::Run()
 
 				if (_battery_status_sub.update(&battery_status)) {
 					uint16_t voltage = battery_status.voltage_filtered_v * 10;
-					uint16_t current = battery_status.current_filtered_a * 10;
+					uint16_t current = battery_status.current_a * 10;
 					int fuel = battery_status.discharged_mah;
 					uint8_t remaining = battery_status.remaining * 100;
 					this->SendTelemetryBattery(voltage, current, fuel, remaining);

src/drivers/rc_input/crsf_telemetry.cpp

@@ -82,7 +82,7 @@ bool CRSFTelemetry::send_battery()
 	}
 
 	uint16_t voltage = battery_status.voltage_filtered_v * 10;
-	uint16_t current = battery_status.current_filtered_a * 10;
+	uint16_t current = battery_status.current_a * 10;
 	int fuel = battery_status.discharged_mah;
 	uint8_t remaining = battery_status.remaining * 100;
 	return crsf_send_telemetry_battery(_uart_fd, voltage, current, fuel, remaining);

src/drivers/rc_input/ghst_telemetry.cpp

@@ -91,7 +91,7 @@ bool GHSTTelemetry::send_battery_status()
 
 	if (_battery_status_sub.update(&battery_status)) {
 		voltage_in_10mV = battery_status.voltage_filtered_v * FACTOR_VOLTS_TO_10MV;
-		current_in_10mA = battery_status.current_filtered_a * FACTOR_AMPS_TO_10MA;
+		current_in_10mA = battery_status.current_a * FACTOR_AMPS_TO_10MA;
 		fuel_in_10mAh = battery_status.discharged_mah * FACTOR_MAH_TO_10MAH;
 		success = ghst_send_telemetry_battery_status(_uart_fd,
 				static_cast<uint16_t>(voltage_in_10mV),

src/drivers/smart_battery/batmon/batmon.cpp

@@ -152,7 +152,6 @@ void Batmon::RunImpl()
 	ret |= _interface->read_word(BATT_SMBUS_CURRENT, result);
 
 	new_report.current_a = (-1.0f * ((float)(*(int16_t *)&result)) / 1000.0f);
-	new_report.current_filtered_a = new_report.current_a;
 
 	// Read average current.
 	ret |= _interface->read_word(BATT_SMBUS_AVERAGE_CURRENT, result);

src/drivers/tattu_can/TattuCan.cpp

@@ -117,7 +117,6 @@ void TattuCan::Run()
 		battery_status.voltage_v = static_cast<float>(tattu_message.voltage) / 1000.0f;
 		battery_status.voltage_filtered_v = static_cast<float>(tattu_message.voltage) / 1000.0f;
 		battery_status.current_a = static_cast<float>(tattu_message.current) / 1000.0f;
-		battery_status.current_filtered_a = static_cast<float>(tattu_message.current) / 1000.0f;
 		battery_status.remaining = static_cast<float>(tattu_message.remaining_percent) / 100.0f;
 		battery_status.temperature = static_cast<float>(tattu_message.temperature);
 		battery_status.capacity = tattu_message.standard_capacity;

src/drivers/uavcan/sensors/battery.cpp

@@ -106,7 +106,6 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 	_battery_status[instance].voltage_v = msg.voltage;
 	_battery_status[instance].voltage_filtered_v = msg.voltage;
 	_battery_status[instance].current_a = msg.current;
-	_battery_status[instance].current_filtered_a = msg.current;
 	_battery_status[instance].current_average_a = msg.current;
 
 	if (_batt_update_mod[instance] == BatteryDataType::Raw) {

src/lib/battery/int_res_est_replay.py

@@ -31,15 +31,11 @@ def rls_update(theta, P, x, V, I, lam):
         return theta_corr, P_corr, error, data_cov, 0, 0
     return theta_temp, P_temp, error, data_cov, gamma[0], gamma[1]
 
-def main(log_name, n_cells, full_cell, empty_cell, lam, filtered):
+def main(log_name, n_cells, full_cell, empty_cell, lam):
     log = ULog(log_name)
     timestamps = us2s(getData(log, 'battery_status', 'timestamp'))
-    if (filtered):
-        I = getData(log, 'battery_status', 'current_filtered_a')
-        V = getData(log, 'battery_status', 'voltage_filtered_v')
-    else:
-        I = getData(log, 'battery_status', 'current_a')
-        V = getData(log, 'battery_status', 'voltage_v')
+    I = getData(log, 'battery_status', 'current_a')
+    V = getData(log, 'battery_status', 'voltage_v')
     remaining = getData(log, 'battery_status', 'remaining')
 
     if not timestamps.size or not I.size or not V.size or not remaining.size:
@@ -176,6 +172,5 @@ def main(log_name, n_cells, full_cell, empty_cell, lam, filtered):
     parser.add_argument('-u', type = float, required = False, default = 4.05, help = 'Full cell voltage')
     parser.add_argument('-e', type = float, required = False, default = 3.6,  help = 'Empty cell voltage')
     parser.add_argument('-l', type = float, required = False, default = 0.99, help = 'Forgetting factor')
-    parser.add_argument('-d', type = bool,  required = False, default = False,    help = 'Filter measurements')
     args = parser.parse_args()
-    main(args.f, args.c, args.u, args.e, args.l, args.d)
+    main(args.f, args.c, args.u, args.e, args.l)

src/lib/drivers/smbus_sbs/SBS.hpp

@@ -267,7 +267,6 @@ int SMBUS_SBS_BaseClass<T>::populate_smbus_data(battery_status_s &data)
 	ret |= _interface->read_word(BATT_SMBUS_CURRENT, result);
 
 	data.current_a = (-1.0f * ((float)(*(int16_t *)&result)) * 0.001f);
-	data.current_filtered_a = data.current_a;
 
 	// Read remaining capacity.
 	ret |= _interface->read_word(BATT_SMBUS_RELATIVE_SOC, result);

src/modules/mavlink/mavlink_receiver.cpp

@@ -1772,7 +1772,6 @@ MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
 	battery_status.voltage_v = voltage_sum;
 	battery_status.voltage_filtered_v  = voltage_sum;
 	battery_status.current_a = (float)(battery_mavlink.current_battery) / 100.0f;
-	battery_status.current_filtered_a = battery_status.current_a;
 	battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f;
 	battery_status.discharged_mah = (float)battery_mavlink.current_consumed;
 	battery_status.cell_count = cell_count;

src/modules/mavlink/streams/BATTERY_STATUS.hpp

@@ -74,7 +74,7 @@ class MavlinkStreamBatteryStatus : public MavlinkStream
 				bat_msg.type = MAV_BATTERY_TYPE_LIPO;
 				bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1;
 				bat_msg.energy_consumed = -1;
-				bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1;
+				bat_msg.current_battery = (battery_status.connected) ? battery_status.current_a * 100 : -1;
 				bat_msg.battery_remaining = (battery_status.connected) ? roundf(battery_status.remaining * 100.f) : -1;
 				// MAVLink extension: 0 is unsupported, in uORB it's NAN
 				bat_msg.time_remaining = (battery_status.connected && (PX4_ISFINITE(battery_status.time_remaining_s))) ?

src/modules/mavlink/streams/SYS_STATUS.hpp

@@ -167,7 +167,7 @@ class MavlinkStreamSysStatus : public MavlinkStream
 
 			if (lowest_battery.connected) {
 				msg.voltage_battery = lowest_battery.voltage_filtered_v * 1000.0f;
-				msg.current_battery = lowest_battery.current_filtered_a * 100.0f;
+				msg.current_battery = lowest_battery.current_a * 100.0f;
 				msg.battery_remaining = ceilf(lowest_battery.remaining * 100.0f);
 
 			} else {