iNavFlight · DzikuVx · Jun 4, 2024 · Jun 2, 2024
diff --git a/docs/Battery.md b/docs/Battery.md
@@ -201,7 +201,6 @@ Up to 3 battery profiles are supported. You can select the battery profile from
 - `vbat_max_cell_voltage`
 - `vbat_warning_cell_voltage`
 - `vbat_min_cell_voltage`
-- `battery_capacity_unit`
 - `battery_capacity`
 - `battery_capacity_warning`
 - `battery_capacity_critical`
@@ -253,7 +252,6 @@ feature BAT_PROF_AUTOSWITCH
 battery_profile 1
 
 set bat_cells = 3
-set battery_capacity_unit = MAH
 set battery_capacity = 2200
 set battery_capacity_warning = 440
 set battery_capacity_critical = 220
@@ -262,7 +260,6 @@ set battery_capacity_critical = 220
 battery_profile 2
 
 set bat_cells = 4
-set battery_capacity_unit = MAH
 set battery_capacity = 1500
 set battery_capacity_warning = 300
 set battery_capacity_critical = 150

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -856,7 +856,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU32(dst, currentBatteryProfile->capacity.value);
         sbufWriteU32(dst, currentBatteryProfile->capacity.warning);
         sbufWriteU32(dst, currentBatteryProfile->capacity.critical);
-        sbufWriteU8(dst, currentBatteryProfile->capacity.unit);
+        sbufWriteU8(dst, batteryMetersConfig()->capacity_unit);
         break;
 
     case MSP2_INAV_MISC2:
@@ -895,7 +895,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU32(dst, currentBatteryProfile->capacity.value);
         sbufWriteU32(dst, currentBatteryProfile->capacity.warning);
         sbufWriteU32(dst, currentBatteryProfile->capacity.critical);
-        sbufWriteU8(dst, currentBatteryProfile->capacity.unit);
+        sbufWriteU8(dst, batteryMetersConfig()->capacity_unit);
         break;
 
 #ifdef USE_GPS
@@ -2081,13 +2081,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             currentBatteryProfileMutable->capacity.value = sbufReadU32(src);
             currentBatteryProfileMutable->capacity.warning = sbufReadU32(src);
             currentBatteryProfileMutable->capacity.critical = sbufReadU32(src);
-            currentBatteryProfileMutable->capacity.unit = sbufReadU8(src);
+            batteryMetersConfigMutable()->capacity_unit = sbufReadU8(src);
             if ((batteryMetersConfig()->voltageSource != BAT_VOLTAGE_RAW) && (batteryMetersConfig()->voltageSource != BAT_VOLTAGE_SAG_COMP)) {
                 batteryMetersConfigMutable()->voltageSource = BAT_VOLTAGE_RAW;
                 return MSP_RESULT_ERROR;
             }
-            if ((currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MAH) && (currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MWH)) {
-                currentBatteryProfileMutable->capacity.unit = BAT_CAPACITY_UNIT_MAH;
+            if ((batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MAH) && (batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MWH)) {
+                batteryMetersConfigMutable()->capacity_unit = BAT_CAPACITY_UNIT_MAH;
                 return MSP_RESULT_ERROR;
             }
         } else
@@ -2120,13 +2120,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             currentBatteryProfileMutable->capacity.value = sbufReadU32(src);
             currentBatteryProfileMutable->capacity.warning = sbufReadU32(src);
             currentBatteryProfileMutable->capacity.critical = sbufReadU32(src);
-            currentBatteryProfileMutable->capacity.unit = sbufReadU8(src);
+            batteryMetersConfigMutable()->capacity_unit = sbufReadU8(src);
             if ((batteryMetersConfig()->voltageSource != BAT_VOLTAGE_RAW) && (batteryMetersConfig()->voltageSource != BAT_VOLTAGE_SAG_COMP)) {
                 batteryMetersConfigMutable()->voltageSource = BAT_VOLTAGE_RAW;
                 return MSP_RESULT_ERROR;
             }
-            if ((currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MAH) && (currentBatteryProfile->capacity.unit != BAT_CAPACITY_UNIT_MWH)) {
-                currentBatteryProfileMutable->capacity.unit = BAT_CAPACITY_UNIT_MAH;
+            if ((batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MAH) && (batteryMetersConfig()->capacity_unit != BAT_CAPACITY_UNIT_MWH)) {
+                batteryMetersConfigMutable()->capacity_unit = BAT_CAPACITY_UNIT_MAH;
                 return MSP_RESULT_ERROR;
             }
         } else

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -890,6 +890,12 @@ groups:
         condition: USE_ADC
         min: 0
         max: 65535
+      - name: battery_capacity_unit
+        description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)."
+        default_value: "MAH"
+        field: capacity_unit
+        table: bat_capacity_unit
+        type: uint8_t
       - name: current_meter_scale
         description: "This sets the output voltage to current scaling for the current sensor in 0.1 mV/A steps. 400 is 40mV/A such as the ACS756 sensor outputs. 183 is the setting for the uberdistro with a 0.25mOhm shunt."
         default_value: :target
@@ -996,12 +1002,6 @@ groups:
         field: capacity.critical
         min: 0
         max: 4294967295
-      - name: battery_capacity_unit
-        description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)."
-        default_value: "MAH"
-        field: capacity.unit
-        table: bat_capacity_unit
-        type: uint8_t
       - name: controlrate_profile
         description: "Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile"
         default_value: 0

diff --git a/src/main/flight/rth_estimator.c b/src/main/flight/rth_estimator.c
@@ -222,7 +222,7 @@ float calculateRemainingDistanceBeforeRTH(bool takeWindIntoAccount) {
 
     // check requirements
     const bool areBatterySettingsOK = feature(FEATURE_VBAT) && feature(FEATURE_CURRENT_METER) && batteryWasFullWhenPluggedIn();
-    const bool areRTHEstimatorSettingsOK = batteryMetersConfig()->cruise_power > 0 && currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH &&currentBatteryProfile->capacity.value > 0 && navConfig()->fw.cruise_speed > 0;
+    const bool areRTHEstimatorSettingsOK = batteryMetersConfig()->cruise_power > 0 && batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MWH && currentBatteryProfile->capacity.value > 0 && navConfig()->fw.cruise_speed > 0;
     const bool isNavigationOK = navigationPositionEstimateIsHealthy() && isImuHeadingValid();
 
     if (!(areBatterySettingsOK && areRTHEstimatorSettingsOK && isNavigationOK)) {

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
@@ -1780,7 +1780,7 @@ static bool osdDrawSingleElement(uint8_t item)
             tfp_sprintf(buff, "  NA");
         else if (!batteryWasFullWhenPluggedIn())
             tfp_sprintf(buff, "  NF");
-        else if (currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MAH) {
+        else if (batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MAH) {
             uint8_t mah_digits = osdConfig()->mAh_precision; // Initialize to config value
 
 #ifndef DISABLE_MSP_DJI_COMPAT // IF DJICOMPAT is not supported, there's no need to check for it
@@ -1803,11 +1803,11 @@ static bool osdDrawSingleElement(uint8_t item)
                 buff[mah_digits + 1] = '\0';
                 unitsDrawn = true;
             }
-        } else // currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH
+        } else // batteryMetersConfig()->capacityUnit == BAT_CAPACITY_UNIT_MWH
             osdFormatCentiNumber(buff + 1, getBatteryRemainingCapacity() / 10, 0, 2, 0, 3, false);
 
         if (!unitsDrawn) {
-        buff[4] = currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MAH ? SYM_MAH : SYM_WH;
+        buff[4] = batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MAH ? SYM_MAH : SYM_WH;
         buff[5] = '\0';
         }
 

diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
@@ -97,7 +97,7 @@ static int32_t mWhDrawn = 0;                    // energy (milliWatt hours) draw
 batteryState_e batteryState;
 const batteryProfile_t *currentBatteryProfile;
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles, PG_BATTERY_PROFILES, 2);
+PG_REGISTER_ARRAY_WITH_RESET_FN(batteryProfile_t, MAX_BATTERY_PROFILE_COUNT, batteryProfiles, PG_BATTERY_PROFILES, 3);
 
 void pgResetFn_batteryProfiles(batteryProfile_t *instance)
 {
@@ -118,7 +118,6 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance)
                 .value = SETTING_BATTERY_CAPACITY_DEFAULT,
                 .warning = SETTING_BATTERY_CAPACITY_WARNING_DEFAULT,
                 .critical = SETTING_BATTERY_CAPACITY_CRITICAL_DEFAULT,
-                .unit = SETTING_BATTERY_CAPACITY_UNIT_DEFAULT,
             },
 
             .controlRateProfile = 0,
@@ -167,7 +166,7 @@ void pgResetFn_batteryProfiles(batteryProfile_t *instance)
     }
 }
 
-PG_REGISTER_WITH_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig, PG_BATTERY_METERS_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig, PG_BATTERY_METERS_CONFIG, 2);
 
 PG_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig,
 
@@ -186,6 +185,8 @@ PG_RESET_TEMPLATE(batteryMetersConfig_t, batteryMetersConfig,
 
     .voltageSource = SETTING_BAT_VOLTAGE_SRC_DEFAULT,
 
+    .capacity_unit = SETTING_BATTERY_CAPACITY_UNIT_DEFAULT,
+
     .cruise_power = SETTING_CRUISE_POWER_DEFAULT,
     .idle_power = SETTING_IDLE_POWER_DEFAULT,
     .rth_energy_margin = SETTING_RTH_ENERGY_MARGIN_DEFAULT,
@@ -405,7 +406,7 @@ void batteryUpdate(timeUs_t timeDelta)
 
         if ((currentBatteryProfile->capacity.value > 0) && batteryFullWhenPluggedIn) {
             uint32_t capacityDiffBetweenFullAndEmpty = currentBatteryProfile->capacity.value - currentBatteryProfile->capacity.critical;
-            int32_t drawn = (currentBatteryProfile->capacity.unit == BAT_CAPACITY_UNIT_MWH ? mWhDrawn : mAhDrawn);
+            int32_t drawn = (batteryMetersConfig()->capacity_unit == BAT_CAPACITY_UNIT_MWH ? mWhDrawn : mAhDrawn);
             batteryRemainingCapacity = (drawn > (int32_t)capacityDiffBetweenFullAndEmpty ? 0 : capacityDiffBetweenFullAndEmpty - drawn);
         }
 

diff --git a/src/main/sensors/battery_config_structs.h b/src/main/sensors/battery_config_structs.h
@@ -61,16 +61,18 @@ typedef struct batteryMetersConfig_s {
 #endif
 
     struct {
-        int16_t scale;          // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
-        int16_t offset;         // offset of the current sensor in millivolt steps
-        currentSensor_e type;   // type of current meter used, either ADC or virtual
+        int16_t scale;                  // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
+        int16_t offset;                 // offset of the current sensor in millivolt steps
+        currentSensor_e type;           // type of current meter used, either ADC or virtual
     } current;
 
     batVoltageSource_e voltageSource;
 
-    uint32_t cruise_power;      // power drawn by the motor(s) at cruise throttle/speed (cW)
-    uint16_t idle_power;        // power drawn by the system when the motor(s) are stopped (cW)
-    uint8_t rth_energy_margin;  // Energy that should be left after RTH (%), used for remaining time/distance before RTH
+    batCapacityUnit_e capacity_unit;    // Describes unit of capacity.value, capacity.warning and capacity.critical
+
+    uint32_t cruise_power;              // power drawn by the motor(s) at cruise throttle/speed (cW)
+    uint16_t idle_power;                // power drawn by the system when the motor(s) are stopped (cW)
+    uint8_t rth_energy_margin;          // Energy that should be left after RTH (%), used for remaining time/distance before RTH
 
     float throttle_compensation_weight;
 
@@ -90,10 +92,9 @@ typedef struct batteryProfile_s {
 #endif
 
     struct {
-        uint32_t value;                     // mAh or mWh (see capacity.unit)
-        uint32_t warning;                   // mAh or mWh (see capacity.unit)
-        uint32_t critical;                  // mAh or mWh (see capacity.unit)
-        batCapacityUnit_e unit;             // Describes unit of capacity.value, capacity.warning and capacity.critical
+        uint32_t value;                     // mAh or mWh (see batteryMetersConfig()->capacity_unit)
+        uint32_t warning;                   // mAh or mWh (see batteryMetersConfig()->capacity_unit)
+        uint32_t critical;                  // mAh or mWh (see batteryMetersConfig()->capacity_unit)
     } capacity;
 
     uint8_t controlRateProfile;