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commander: move battery calculations to systemlib

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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
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msg/vehicle_status.msg
-8
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@@ -77,7 +77,6 @@ bool is_vtol # True if the system is VTOL capable
bool vtol_fw_permanent_stab # True if vtol should stabilize attitude for fw in manual mode
bool in_transition_mode # True if VTOL is doing a transition
bool condition_battery_voltage_valid
bool condition_system_in_air_restore # true if we can restore in mid air
bool condition_system_sensors_initialized
bool condition_system_prearm_error_reported # true if errors have already been reported
@@ -125,11 +124,4 @@ uint32 onboard_control_sensors_enabled
uint32 onboard_control_sensors_health
float32 load # processor load from 0 to 1
float32 battery_voltage
float32 battery_current
float32 battery_remaining
float32 battery_discharged_mah
uint32 battery_cell_count
uint8 battery_warning # current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum