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Add proper constants for battery usage estimation #14

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Add proper constants for battery usage estimation #14

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16 changes: 12 additions & 4 deletions src/mission_executor/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,8 @@ struct MissionExecutor {
}

const CLOSE_ENOUGH: f64 = 1.0;
const THRUSTER_USAGE: f64 = 7000.0; //in milliamps
const BATTERY_CAPACITY: f64 = 10000.0; //in mAh

impl MissionExecutor {
pub fn new() -> Self {
Expand Down Expand Up @@ -318,9 +320,10 @@ async fn main() {

// r2r::log_info!("thurstor_values", "{thurstor_values:?}");

let minn = Vector8::repeat(-THRUSTOR_SATURATE);
let maxx = Vector8::repeat(THRUSTOR_SATURATE);
thurstor_values = thurstor_values.simd_clamp(minn, maxx) / THRUSTOR_SATURATE;
for val in &mut thurstor_values {
*val = val.clamp(-5.0, 5.0);
*val /= 5.0;
}

let mut thrusters_msg = Float64MultiArray::default();
thrusters_msg.data.extend(thurstor_values.iter());
Expand All @@ -330,7 +333,7 @@ async fn main() {

let mut sum_curr = 0.0;
for val in &thurstor_values {
sum_curr += val.abs();
sum_curr += val.powf(2.0) * THRUSTER_USAGE;
}
let mut avg_curr = td.avg_current.lock().await;
*avg_curr = (*avg_curr * (count - 1.0) + sum_curr) / count;
Expand All @@ -346,6 +349,11 @@ async fn main() {
"Current sum of thrusters: {:.2}",
sum_curr
);
r2r::log_info!(
"thruster_report",
"Estimated battery life remaining: {:.2}",
BATTERY_CAPACITY / *avg_curr
);
last_log = now;
}
drop(avg_curr);
Expand Down