update power estimation and upload 2 models of yolo

power.py

@@ -141,24 +141,114 @@ def is_charging(threshold_ma=10.0):
 
 
 def voltage_to_percent(voltage):
-    """根据电压估算电池百分比（查表插值）"""
+    """
+    根据电压估算电池百分比（高密度查表插值 + 滤波）。
+
+    - 电压先做 5 点移动平均（抑制瞬时抖动）
+    - SOC 再做一阶低通（抑制“跳电量”）
+
+    注意：
+    - 该方法仍是“开路电压→SOC”的近似；负载较大/瞬时大电流时电压会下沉，SOC 会偏低。
+    - 滤波会带来滞后：电量变化会更平滑，但更新更慢。
+    """
     if voltage is None:
         return 0
-    points = [
-        (4.20, 100), (4.10, 95), (4.05, 85), (4.00, 75), (3.95, 65),
-        (3.90, 55), (3.85, 45), (3.80, 35), (3.75, 25), (3.70, 15),
-        (3.65, 5), (3.60, 0)
-    ]
-    if voltage >= points[0][0]:
-        return 100
-    if voltage <= points[-1][0]:
+    try:
+        v = float(voltage)
+    except Exception:
         return 0
-    for i in range(len(points) - 1):
-        v1, p1 = points[i]
-        v2, p2 = points[i + 1]
-        if voltage >= v2:
-            ratio = (voltage - v1) / (v2 - v1)
-            percent = p1 + (p2 - p1) * ratio
-            return max(0, min(100, int(round(percent))))
-    return 0
+    if v <= 0:
+        return 0
+    return int(round(_BATTERY_MONITOR.get_soc(v)))
+
+
+class BatteryMonitor:
+    """
+    电压→SOC 估算器（查表 + 线性插值 + 双重滤波）。
+
+    说明：
+    - 表为单节锂电“静态电压”近似曲线；不同电池/温度/老化会有偏差。
+    - 这里不区分充电/放电曲线（滞后），主要用于“显示电量/粗略判断”。
+    """
+
+    def __init__(self, avg_window: int = 5, alpha: float = 0.2):
+        # 电压-SOC对照表（电压从高到低）
+        self.voltages = [
+            4.20, 4.15, 4.10, 4.05, 4.00,
+            3.95, 3.90, 3.88, 3.85, 3.82,
+            3.80, 3.78, 3.75, 3.72, 3.70,
+            3.65, 3.60, 3.55, 3.50, 3.45,
+            3.40, 3.35, 3.30, 3.20, 2.50,
+        ]
+        self.socs = [
+            100, 98, 95, 90, 85,
+            80, 75, 72, 68, 64,
+            60, 56, 52, 48, 44,
+            38, 32, 26, 20, 14,
+            10, 6, 3, 1, 0,
+        ]
+
+        self.avg_window = max(1, int(avg_window))
+        self.alpha = float(alpha) if alpha is not None else 0.2
+        if not (0.0 < self.alpha <= 1.0):
+            self.alpha = 0.2
+
+        self.voltage_history = []
+        self.last_soc = 50.0
+
+    def _voltage_to_soc_raw(self, voltage: float) -> float:
+        # 越界
+        if voltage >= self.voltages[0]:
+            return 100.0
+        if voltage <= self.voltages[-1]:
+            return 0.0
+
+        # 表是降序，二分查找
+        left, right = 0, len(self.voltages) - 1
+        while left <= right:
+            mid = (left + right) // 2
+            vm = self.voltages[mid]
+            if vm == voltage:
+                return float(self.socs[mid])
+            elif vm < voltage:
+                right = mid - 1
+            else:
+                left = mid + 1
+
+        # 线性插值：right 在高电压侧，left 在低电压侧（降序表）
+        # 例：voltages = [4.2,4.15,...]，则 v_high=voltages[right] >= voltage >= voltages[left]=v_low
+        v_high, v_low = float(self.voltages[right]), float(self.voltages[left])
+        soc_high, soc_low = float(self.socs[right]), float(self.socs[left])
+        if abs(v_high - v_low) < 1e-9:
+            return soc_low
+        soc = soc_low + (voltage - v_low) * (soc_high - soc_low) / (v_high - v_low)
+        return soc
+
+    def get_soc(self, raw_voltage: float) -> float:
+        # 1) 电压滤波（移动平均）
+        self.voltage_history.append(float(raw_voltage))
+        if len(self.voltage_history) > self.avg_window:
+            self.voltage_history.pop(0)
+        voltage = sum(self.voltage_history) / float(len(self.voltage_history))
+
+        # 2) 查表插值
+        raw_soc = self._voltage_to_soc_raw(voltage)
+
+        # 3) SOC 低通滤波
+        a = self.alpha
+        self.last_soc = a * raw_soc + (1.0 - a) * float(self.last_soc)
+
+        # clip
+        if self.last_soc < 0.0:
+            self.last_soc = 0.0
+        if self.last_soc > 100.0:
+            self.last_soc = 100.0
+        return float(self.last_soc)
+
+
+# 模块级单例：保留历史，实现平滑（进程重启会重置）
+_BATTERY_MONITOR = BatteryMonitor(
+    avg_window=int(getattr(config, "BATTERY_SOC_AVG_WINDOW", 5)),
+    alpha=float(getattr(config, "BATTERY_SOC_LPF_ALPHA", 0.2)),
+)