fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 05:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: move battery calculations to systemlib

Browse Source 
The commander used to consume the battery_status topic and write the
contents after some calculations into the system state. Instead, the
calculations now happen in library calls in systemlib/battery.

This moves the battery fields out of the vehicle_status message into the
battery_status topic.

This brought quite some changes in all modules that need battery
information. The current state is compiling but untested.
This commit is contained in:
Julian Oes
2016-04-11 18:01:47 +02:00
parent 699b08c9fd
commit 32c3135788
21 changed files with 661 additions and 426 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/battery_status.msg
+10 -1
View File
@@ -3,4 +3,13 @@ float32 voltage_v # Battery voltage in volts, 0 if unknown
float32 voltage_filtered_v # Battery voltage in volts, filtered, 0 if unknown
float32 current_a # Battery current in amperes, -1 if unknown
float32 discharged_mah # Discharged amount in mAh, -1 if unknown
bool is_powering_off # Power off event imminent indication, false if unknown
float32 remaining # From 1 to 0, -1 if unknown
int32 cell_count # Number of cells
#bool is_powering_off # Power off event imminent indication, false if unknown
uint8 BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
uint8 BATTERY_WARNING_LOW = 1 # warning of low voltage
uint8 BATTERY_WARNING_CRITICAL = 2 # alerting of critical voltage
uint8 warning # current battery warning