add lower limit to prevent triggering on power loss (#20720)
Co-authored-by: Comma Device <device@comma.ai>albatross
parent
64d2ec38f2
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13a6e3c68f
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@ -16,7 +16,8 @@ CAR_VOLTAGE_LOW_PASS_K = 0.091 # LPF gain for 5s tau (dt/tau / (dt/tau + 1))
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CAR_BATTERY_CAPACITY_uWh = 30e6
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CAR_CHARGING_RATE_W = 45
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VBATT_PAUSE_CHARGING = 11.0
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VBATT_PAUSE_CHARGING = 11.0 # Lower limit on the LPF car battery voltage
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VBATT_INSTANT_PAUSE_CHARGING = 7.0 # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss
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MAX_TIME_OFFROAD_S = 30*3600
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class PowerMonitoring:
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@ -27,6 +28,7 @@ class PowerMonitoring:
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self.power_used_uWh = 0 # Integrated power usage in uWh since going into offroad
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self.next_pulsed_measurement_time = None
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self.car_voltage_mV = 12e3 # Low-passed version of pandaState voltage
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self.car_voltage_instant_mV = 12e3 # Last value of pandaState voltage
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self.integration_lock = threading.Lock()
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car_battery_capacity_uWh = self.params.get("CarBatteryCapacity")
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@ -51,6 +53,7 @@ class PowerMonitoring:
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return
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# Low-pass battery voltage
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self.car_voltage_instant_mV = pandaState.pandaState.voltage
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self.car_voltage_mV = ((pandaState.pandaState.voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K)))
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# Cap the car battery power and save it in a param every 10-ish seconds
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@ -161,7 +164,7 @@ class PowerMonitoring:
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now = sec_since_boot()
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disable_charging = False
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disable_charging |= (now - offroad_timestamp) > MAX_TIME_OFFROAD_S
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disable_charging |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3))
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disable_charging |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3)) and (self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3))
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disable_charging |= (self.car_battery_capacity_uWh <= 0)
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disable_charging &= (not pandaState.pandaState.ignitionLine and not pandaState.pandaState.ignitionCan)
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disable_charging &= (not self.params.get_bool("DisablePowerDown"))
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