MultiWii Leistungsmessung und Verbrauchsanzeige

/* enable monitoring of the power consumption from battery (think of mAh) */
/* allows to set alarm value in GUI or via LCD */
/* Two options: */
/* 1 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC */
/*      00. relies on your combo of battery type (Voltage, cpacity), ESC, ESC settings, motors, props and multiwii cycle time */
/*      01. set POWERMETER soft. Uses PLEVELSCALE = 50, PLEVELDIV = PLEVELDIVSOFT = 10000 */
/*      0. output is a value that linearily scales to power (mAh) */
/*      1. get voltage reading right first */
/*      2. start with freshly charged battery */
/*      3. go fly your typical flight (routine and duration) */
/*      4. at end connect to GUI or LCD and read the power value; write it down (example 4711)*/
/*      5. charge battery, write down amount of energy needed (example 722 mAh) */
/*      6. compute alarm value for desired power threshold (example 750 mAh : alarm = 4711 / 722 * 750) */
/*      7. set alarm value in GUI or LCD */
/*      8. enjoy your new battery alarm - possibly repeat steps 2 .. 7 */
/*      9. if you want the numbers to represent your mAh value, you must change PLEVELDIV */
/* 2 - hard: - (uses hardware sensor, after configuration gives reasonable results */
/*      00. uses analog pin 2 to read voltage output from sensor. */
/*      01. set POWERMETER hard. Uses PLEVELSCALE = 50 */
/*      02. install low path filter for 25 Hz to sensor input */
/*      1. compute PLEVELDIV for your sensor (see below for insturctions) */
/*      2. set PLEVELDIVSOFT to 10000 ( to use LOG_VALUES for individual motor comparison) */
/*      3. attach, set PSENSORNULL and  PINT2mA */
/*      4. configure, compile, upload, set alarm value in GUI or LCD */
/*      3. enjoy true readings of mAh consumed */
/* set POWERMETER to "soft" (1) or "hard" (2) depending on sensor you want to utilize */
//#define POWERMETER 1
//#define POWERMETER 2
/* the sum of all powermeters ranges from [0:60000 e4] theoretically. */
/* the alarm level from eeprom is out of [0:255], so we multipy alarm level with PLEVELSCALE and with 1e4 before comparing */
/* PLEVELSCALE is the step size you can use to set alarm */
#define PLEVELSCALE 50 // if you change this value for other granularity, you must search for comments in code to change accordingly 
/* larger PLEVELDIV will get you smaller value for power (mAh equivalent) */
#define PLEVELDIV 10000 // default for soft - if you lower PLEVELDIV, beware of overrun in uint32 pMeter
#define PLEVELDIVSOFT PLEVELDIV // for soft always equal to PLEVELDIV; for hard set to 10000
//#define PLEVELDIV 1361L // to convert the sum into mAh divide by this value
/* amploc 25A sensor has 37mV/A */
/* arduino analog resolution is 4.9mV per unit; units from [0..1023] */
/* sampling rate 20ms, approx 19977 micro seconds */
/* PLEVELDIV = 37 / 4.9  * 10e6 / 19977  * 3600 / 1000  = 1361L */
/* set to analogRead() value for zero current */
#define PSENSORNULL 510 // for I=0A my sensor gives 1/2 Vss; that is approx 2.49Volt
#define PINT2mA 13 // for telemtry display: one integer step on arduino analog translates to mA (example 4.9 / 37 * 100