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battery: use local instead of global member battery_status message

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Matthias Grob
2021-06-30 15:18:38 +02:00
parent fa976f84b1
commit 62546350f1
2 changed files with 23 additions and 24 deletions
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45
src/lib/battery/battery.cpp
View File

@@ -130,37 +130,38 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
connected = false;
}
_battery_status.voltage_v = voltage_v;
_battery_status.voltage_filtered_v = _voltage_filter_v.getState();
_battery_status.current_a = current_a;
_battery_status.current_filtered_a = _current_filter_a.getState();
_battery_status.current_average_a = -1.f; // support will follow
_battery_status.discharged_mah = _discharged_mah;
_battery_status.remaining = _state_of_charge;
_battery_status.scale = _scale;
_battery_status.temperature = NAN;
battery_status_s battery_status{};
battery_status.voltage_v = voltage_v;
battery_status.voltage_filtered_v = _voltage_filter_v.getState();
battery_status.current_a = current_a;
battery_status.current_filtered_a = _current_filter_a.getState();
battery_status.current_average_a = -1.f; // support will follow
battery_status.discharged_mah = _discharged_mah;
battery_status.remaining = _state_of_charge;
battery_status.scale = _scale;
battery_status.temperature = NAN;
// Publish at least one cell such that the total voltage gets into MAVLink BATTERY_STATUS
_battery_status.cell_count = math::max(_params.n_cells, static_cast<int32_t>(1));
_battery_status.connected = connected;
_battery_status.source = source;
_battery_status.priority = priority;
_battery_status.capacity = _params.capacity > 0.f ? static_cast<uint16_t>(_params.capacity) : 0;
_battery_status.id = static_cast<uint8_t>(_index);
_battery_status.warning = _warning;
battery_status.cell_count = math::max(_params.n_cells, static_cast<int32_t>(1));
battery_status.connected = connected;
battery_status.source = source;
battery_status.priority = priority;
battery_status.capacity = _params.capacity > 0.f ? static_cast<uint16_t>(_params.capacity) : 0;
battery_status.id = static_cast<uint8_t>(_index);
battery_status.warning = _warning;
static constexpr int32_t uorb_max_cells = sizeof(_battery_status.voltage_cell_v) / sizeof(
_battery_status.voltage_cell_v[0]);
static constexpr int32_t uorb_max_cells = sizeof(battery_status.voltage_cell_v) / sizeof(
battery_status.voltage_cell_v[0]);
int max_cells = math::min(_battery_status.cell_count, uorb_max_cells);
int max_cells = math::min(battery_status.cell_count, uorb_max_cells);
// Fill cell voltages with average values to work around MAVLink BATTERY_STATUS not allowing to report just total voltage
for (int i = 0; i < max_cells; i++) {
_battery_status.voltage_cell_v[i] = _battery_status.voltage_filtered_v / max_cells;
battery_status.voltage_cell_v[i] = battery_status.voltage_filtered_v / max_cells;
}
if (source == _params.source) {
_battery_status.timestamp = hrt_absolute_time();
_battery_status_pub.publish(_battery_status);
battery_status.timestamp = hrt_absolute_time();
_battery_status_pub.publish(battery_status);
}
}

2
src/lib/battery/battery.h
View File

@@ -143,8 +143,6 @@ protected:
int32_t source_old;
} _params{};
battery_status_s _battery_status{};
const int _index;
bool _first_parameter_update{true};