Related to "Dynamic Power Management" #267
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…ield - add new callback and message field for charger_input_current - rename dcdc_in_current field to dcdc_input_current for consistency - update corresponding register setter name to SetRegisterSystemCurrentLimit
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4 tasks
- rename method `SetRegisterSystemCurrentLimit` to `SetRegisterSystemCurrent` for clarity - update Sabo hardware charge current parameter from 3.0 to 2.5 to align with FW
Apehaenger
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Feb 10, 2026
) I do like to charge at max. possible power. To achieve this I've to respect docks PSU current, which is on save defaults, but might be changed via PowerService-Register. In addition I need to estimate the power which get already burned by the mower. This is mainly the current into the DCDC's and got already implemented in an earlier PR. There remains some unmeasured (blind) power going into the ESCs which get handled (together with a measurement inaccuracy estimation) as safety-reserve. This is how I achieved this (feel free to judge/comment if there's a better approach): - [x] Add charger methods `readAdapterCurrent()` and `setAdapterCurrent()` - [x] Add PowerService functions to get configured charge currents and adapter current limits - [x] Add a PowerService::SetPowerManagementCallback() method so that a robot is capable to add his individual power management settings, based on his available sensors - [x] Add a Sabo specific SaboRobot::OnPowerManagement() dynamic power management callback **Related PRs**: xtech/definitions-open-mower#18 ClemensElflein/open_mower_ros#267 _Remark:_ The BQ2579 implementation didn't got tested by me due to missing device. Someone need to check/test!
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Please see: xtech/fw-openmower-v2#38
Summary by CodeRabbit
Release Notes
New Features
Improvements
Configuration Updates