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MAVLink app: Ensure to report battery status correctly according to MAVLink standards

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Lorenz Meier
2015-10-11 11:35:46 +02:00
parent 8f1ffac1b2
commit dda740b709
1 changed files with 14 additions and 6 deletions
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20
src/modules/mavlink/mavlink_messages.cpp
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@@ -556,7 +556,7 @@ protected:
msg.errors_count2 = status.errors_count2; msg.errors_count2 = status.errors_count2;
msg.errors_count3 = status.errors_count3; msg.errors_count3 = status.errors_count3;
msg.errors_count4 = status.errors_count4; msg.errors_count4 = status.errors_count4;
msg.battery_remaining = (msg.voltage_battery > 0) ? msg.battery_remaining = (status.condition_battery_voltage_valid) ?
status.battery_remaining * 100.0f : -1; status.battery_remaining * 100.0f : -1;
_mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg); _mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg);
@@ -571,14 +571,22 @@ protected:
if (i < status.battery_cell_count) { if (i < status.battery_cell_count) {
bat_msg.voltages[i] = (status.battery_voltage / status.battery_cell_count) * 1000.0f; bat_msg.voltages[i] = (status.battery_voltage / status.battery_cell_count) * 1000.0f;
} else { } else {
bat_msg.voltages[i] = 0; bat_msg.voltages[i] = UINT16_MAX;
} }
} }
bat_msg.current_battery = status.battery_current * 100.0f;
bat_msg.current_consumed = status.battery_discharged_mah; if (status.condition_battery_voltage_valid) {
bat_msg.current_battery = (bat_msg.current_battery >= 0.0f) ?
status.battery_current * 100.0f : -1;
bat_msg.current_consumed = (bat_msg.current_consumed >= 0.0f) ?
status.battery_discharged_mah : -1;
bat_msg.battery_remaining = status.battery_remaining * 100.0f;
} else {
bat_msg.current_battery = -1.0f;
bat_msg.current_consumed = -1.0f;
bat_msg.battery_remaining = -1.0f;
}
bat_msg.energy_consumed = -1.0f; bat_msg.energy_consumed = -1.0f;
bat_msg.battery_remaining = (status.battery_voltage > 0) ?
status.battery_remaining * 100.0f : -1;
_mavlink->send_message(MAVLINK_MSG_ID_BATTERY_STATUS, &bat_msg); _mavlink->send_message(MAVLINK_MSG_ID_BATTERY_STATUS, &bat_msg);
} }