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SW-97
CarbonixUAV · Mar 7, 2024 · 82a550f · 82a550f
1 parent 7ae28b6
commit 82a550f
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Showing 2 changed files with 20 additions and 4 deletions.
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp
@@ -32,11 +32,15 @@ void AP_BattMonitor_ESC::read(void)
     uint8_t voltage_escs = 0;     // number of ESCs with valid voltage
     uint8_t temperature_escs = 0; // number of ESCs with valid temperature
     float voltage_sum = 0;
+    float voltage_min = 0;
     float current_sum = 0;
     float temperature_sum = 0;
     uint32_t highest_ms = 0;
      _state.consumed_mah = delta_mah;
-
+
+    const uint32_t options = uint32_t(_params._options.get());
+    const bool esc_min_volt_enabled = (options & uint32_t(AP_BattMonitor_Params::Options::ESC_Minimum_Voltage)) != 0;
+
     for (uint8_t i=0; i<ESC_TELEM_MAX_ESCS; i++) {
         int16_t  temperature_cdeg;
         float voltage;
@@ -50,8 +54,15 @@ void AP_BattMonitor_ESC::read(void)
         }
 
         if (telem.get_voltage(i, voltage)) {
-            voltage_sum += voltage;
-            voltage_escs++;
+            if (esc_min_volt_enabled) {
+                if (voltage_min > voltage) {
+                    voltage_min = voltage;
+                }
+            }
+            else {
+                voltage_sum += voltage;
+                voltage_escs++;
+            }
         }
 
         if (telem.get_current(i, current)) {
@@ -69,7 +80,11 @@ void AP_BattMonitor_ESC::read(void)
     }
 
     if (voltage_escs > 0) {
-        _state.voltage = voltage_sum / voltage_escs;
+        if (esc_min_volt_enabled) {
+            _state.voltage = voltage_min;
+        } else {
+            _state.voltage = voltage_sum / voltage_escs;
+        }
         _state.healthy = true;
     } else {
         _state.voltage = 0;

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Params.h b/libraries/AP_BattMonitor/AP_BattMonitor_Params.h
@@ -25,6 +25,7 @@ class AP_BattMonitor_Params {
         MPPT_Power_Off_At_Boot              = (1U<<4),  // MPPT Disabled at startup (aka boot), if HW supports it
         MPPT_Power_On_At_Boot               = (1U<<5),  // MPPT Enabled at startup (aka boot), if HW supports it. If Power_Off_at_Boot is also set, the behavior is Power_Off_at_Boot
         GCS_Resting_Voltage                 = (1U<<6),  // send resistance resting voltage to GCS
+        ESC_Minimum_Voltage                 = (1U<<7),  // send minimum Voltage of ESC rather than average
     };
 
     BattMonitor_LowVoltage_Source failsafe_voltage_source(void) const { return (enum BattMonitor_LowVoltage_Source)_failsafe_voltage_source.get(); }