Power and Current Limiting fix and documentation #11187
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INAV has had power/current limiting since version 3.0.0 but it was never documented in the main Battery.md documentation file. This commit adds comprehensive documentation for the existing feature. Added sections: - Power and Current Limiting overview - Why use power limiting (battery protection, safety, compliance) - How it works (burst vs continuous limits, PI controller) - Configuration settings table (current and power limits) - Three practical example configurations - Understanding burst mode with timeline example - OSD elements for monitoring - Calibration tips and best practices The power limiting feature protects batteries and ESCs by smoothly reducing throttle when current or power exceeds configured limits. It uses a sophisticated burst reserve system that allows brief high-power maneuvers while protecting during sustained flight. Settings documented: - limit_cont_current, limit_burst_current - limit_burst_current_time, limit_burst_current_falldown_time - limit_cont_power, limit_burst_power - limit_burst_power_time, limit_burst_power_falldown_time - limit_pi_p, limit_pi_i, limit_attn_filter_cutoff This documentation helps users understand and configure a feature that has existed for years but remained largely unknown due to lack of user-facing documentation.
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The power limiting initialization incorrectly treated burst limit of 0 as numerically less than continuous limit, and would automatically set burst = continuous. However, 0 means 'disabled/unlimited' not 'zero amps/watts allowed'. This fix allows the valid configuration: - limit_cont_current = 1000 (100A continuous limit) - limit_burst_current = 0 (no burst limiting - unlimited bursts) Changes: - Only enforce burst >= continuous when burst is enabled (> 0) - Applied to both current and power limit initialization - Added comments explaining the 0 = disabled semantics
sensei-hacker
changed the title
Changed divisor from 1000 to 100 to correctly convert from mAh to dA. Example: 1500 mAh × 50C / 100 = 750 dA (75A) ✓ Previously: 1500 mAh × 50C / 1000 = 75 dA (7.5A) ✗ Thanks to Qodo code review for catching this.
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## Summary
Documents INAV's power and current limiting feature (added in 3.0.0) which has never had sufficient user-facing documentation, and fixes a bug where burst limit of 0 (unlimited) was incorrectly overwritten to match continuous limit.
Changes
1. Documentation (
docs/Battery.md) - 149 lines added2. Bug Fix (
src/main/flight/power_limits.c)Problem: Setting
limit_burst_current = 0(unlimited) was overwritten to matchlimit_cont_currentbecause 0 was treated numerically instead of as "disabled".Example:
Fix: Only enforce
burst >= continuouswhen burst is non-zero. Applied to both current and power limits.