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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+12 -2
View File
@@ -1447,8 +1447,6 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_STAT.main_state = buf_status.main_state;
log_msg.body.log_STAT.arming_state = buf_status.arming_state;
log_msg.body.log_STAT.failsafe = (uint8_t) buf_status.failsafe;
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
log_msg.body.log_STAT.battery_warning = buf_status.battery_warning;
log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
log_msg.body.log_STAT.load = buf_status.load;
LOGBUFFER_WRITE_AND_COUNT(STAT);
@@ -1794,6 +1792,18 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(GPOS);
}
/* --- BATTERY --- */
if (copy_if_updated(ORB_ID(battery_status), &subs.battery_sub, &buf.battery)) {
log_msg.msg_type = LOG_BATT_MSG;
log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
log_msg.body.log_BATT.current = buf.battery.current_a;
log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
log_msg.body.log_BATT.remaining = buf.battery.remaining;
log_msg.body.log_BATT.warning = buf.battery.warning;
LOGBUFFER_WRITE_AND_COUNT(BATT);
}
/* --- GLOBAL POSITION SETPOINT --- */
if (copy_if_updated(ORB_ID(position_setpoint_triplet), &subs.triplet_sub, &buf.triplet)) {
src/modules/sdlog2/sdlog2_messages.h
+4 -4
View File
@@ -180,8 +180,6 @@ struct log_STAT_s {
uint8_t main_state;
uint8_t arming_state;
uint8_t failsafe;
float battery_remaining;
uint8_t battery_warning;
uint8_t landed;
float load;
};
@@ -295,6 +293,8 @@ struct log_BATT_s {
float voltage_filtered;
float current;
float discharged;
float remaining;
uint8_t warning;
};
/* --- DIST - RANGE SENSOR DISTANCE --- */
@@ -623,7 +623,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBfBBf", "MainState,ArmS,Failsafe,BatRem,BatWarn,Landed,Load"),
LOG_FORMAT(STAT, "BBBBf", "MainState,ArmS,Failsafe,Landed,Load"),
LOG_FORMAT(VTOL, "fBBB", "Arsp,RwMode,TransMode,Failsafe"),
LOG_FORMAT(CTS, "fffffff", "Vx_b,Vy_b,Vz_b,Vinf,P,Q,R"),
LOG_FORMAT(RC, "ffffffffffffBBBL", "C0,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,RSSI,CNT,Lost,Drop"),
@@ -636,7 +636,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(BATT, "fffffB", "V,VFilt,C,Discharged,Remaining,Warning"),
LOG_FORMAT(DIST, "BBBff", "Id,Type,Orientation,Distance,Covariance"),
LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),