sl-perception 7dfc1b9ee1 feat: battery coulomb counter (Issue #325) ...

Add coulomb counter for accurate SoC estimation independent of load:

- New coulomb_counter module: integrate current over time to track Ah consumed
  * coulomb_counter_init(capacity_mah) initializes with battery capacity
  * coulomb_counter_accumulate(current_ma) integrates current at 100 Hz
  * coulomb_counter_get_soc_pct() returns SoC 0-100% (255 = invalid)
  * coulomb_counter_reset() for charge-complete reset

- Battery module integration:
  * battery_accumulate_coulombs() reads motor INA219 currents and accumulates
  * battery_get_soc_coulomb() returns coulomb-based SoC with fallback to voltage
  * Initialize coulomb counter at startup with DEFAULT_BATTERY_CAPACITY_MAH

- Telemetry updates:
  * JLink STATUS: use coulomb SoC if available, fallback to voltage-based
  * CRSF battery frame: now includes remaining capacity in mAh (from coulomb counter)
  * CRSF capacity field was always 0; now reflects actual remaining mAh

- Mainloop integration:
  * Call battery_accumulate_coulombs() every tick for continuous integration
  * INA219 motor currents + 200 mA subsystem baseline = total battery draw

Motor current sources (INA219 addresses 0x40/0x41) provide most power draw;
Jetson ROS2 battery_node already prioritizes coulomb-based soc_pct from STATUS frame.

Default capacity: 2200 mAh (typical lab 3S LiPo); configurable via firmware parameter.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-04 08:44:37 -05:00

6.9 KiB

Raw History

View Raw