Implement dynamic power management functions and implement for Sabo #38
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- add dynamic power management callback to adjust charger settings based on system load - implement adapter current reading and setting for bq2576 and bq2579 chargers - add power management logic to sabo robot for safe current allocation - update charger driver interface with adapter current methods - improve documentation and initialization order in sabo robot 🔧 chore(services): update submodule reference - update services submodule to latest commit
This was referenced Feb 9, 2026
Apehaenger
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Feb 10, 2026
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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):
readAdapterCurrent()andsetAdapterCurrent()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!