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Mavlink: fixed temperature for batteries (#12605)

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This commit is contained in:
Timothy Scott
2019-08-02 16:09:03 +02:00
committed by Daniel Agar
parent 959a35b3bd
commit 39a5799e65
3 changed files with 8 additions and 2 deletions
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2
msg/battery_status.msg
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@@ -7,7 +7,7 @@ float32 average_current_a # Battery current average in amperes, -1 if unknown
float32 discharged_mah # Discharged amount in mAh, -1 if unknown
float32 remaining # From 1 to 0, -1 if unknown
float32 scale # Power scaling factor, >= 1, or -1 if unknown
float32 temperature # temperature of the battery
float32 temperature # temperature of the battery. NaN if unknown
int32 cell_count # Number of cells
bool connected # Whether or not a battery is connected, based on a voltage threshold
bool system_source # Whether or not a this battery is the active power source for VDD_5V_IN

2
src/lib/battery/battery.cpp
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@@ -97,6 +97,8 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
battery_status->system_source = selected_source;
battery_status->priority = priority;
}
battery_status->temperature = NAN;
}
void

6
src/modules/mavlink/mavlink_messages.cpp
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@@ -52,6 +52,7 @@
#include <lib/matrix/matrix/math.hpp>
#include <px4_time.h>
#include <systemlib/mavlink_log.h>
#include <math.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
@@ -704,7 +705,10 @@ protected:
bat_msg.energy_consumed = -1;
bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1;
bat_msg.battery_remaining = (battery_status.connected) ? ceilf(battery_status.remaining * 100.0f) : -1;
bat_msg.temperature = (battery_status.connected) ? (int16_t)battery_status.temperature : INT16_MAX;
bool temperature_valid = battery_status.connected && PX4_ISFINITE(battery_status.temperature);
bat_msg.temperature = temperature_valid ? (int16_t)(battery_status.temperature * 100.0f) : INT16_MAX;
//bat_msg.average_current_battery = (battery_status.connected) ? battery_status.average_current_a * 100.0f : -1;
//bat_msg.serial_number = (battery_status.connected) ? battery_status.serial_number : 0;
//bat_msg.capacity = (battery_status.connected) ? battery_status.capacity : 0;