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BatteryStatus: remove voltage_filtered_a

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-07-03 15:00:02 +02:00 committed by Matthias Grob
parent c2ae6a7e24
commit 33701aa3d5
16 changed files with 9 additions and 20 deletions
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1
boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp
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@ -1148,7 +1148,6 @@ handle_message_hil_sensor_dsp(mavlink_message_t *msg)
hil_battery_status.timestamp = gyro_accel_time;
hil_battery_status.voltage_v = 16.0f;
hil_battery_status.voltage_filtered_v = 16.0f;
hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f;
hil_battery_status.connected = true;

1
msg/BatteryStatus.msg
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@ -1,7 +1,6 @@
uint64 timestamp # time since system start (microseconds)
bool connected # Whether or not a battery is connected, based on a voltage threshold
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 current_average_a # Battery current average in amperes (for FW average in level flight), -1 if unknown
float32 discharged_mah # Discharged amount in mAh, -1 if unknown

1
src/drivers/batt_smbus/batt_smbus.cpp
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@ -116,7 +116,6 @@ void BATT_SMBUS::RunImpl()
// Convert millivolts to volts.
new_report.voltage_v = ((float)result) / 1000.0f;
new_report.voltage_filtered_v = new_report.voltage_v;
// Read current.
ret |= _interface->read_word(BATT_SMBUS_CURRENT, result);

1
src/drivers/cyphal/Subscribers/legacy/LegacyBatteryInfo.hpp
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@ -76,7 +76,6 @@ public:
battery_status_s bat_status {0};
bat_status.timestamp = hrt_absolute_time();
bat_status.voltage_filtered_v = bat_info.voltage;
bat_status.current_average_a = bat_info.average_power_10sec;
bat_status.remaining = bat_info.state_of_charge_pct / 100.0f;
bat_status.scale = -1;

4
src/drivers/osd/atxxxx/atxxxx.cpp
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@ -241,7 +241,7 @@ OSDatxxxx::add_battery_info(uint8_t pos_x, uint8_t pos_y)
int ret = PX4_OK;
// TODO: show battery symbol based on battery fill level
snprintf(buf, sizeof(buf), "%c%5.2f", OSD_SYMBOL_BATT_3, (double)_battery_voltage_filtered_v);
snprintf(buf, sizeof(buf), "%c%5.2f", OSD_SYMBOL_BATT_3, (double)_battery_voltage_v);
buf[sizeof(buf) - 1] = '\0';
for (int i = 0; buf[i] != '\0'; i++) {
@ -330,7 +330,7 @@ OSDatxxxx::update_topics()
_battery_sub.copy(&battery);
if (battery.connected) {
_battery_voltage_filtered_v = battery.voltage_filtered_v;
_battery_voltage_v = battery.voltage_v;
_battery_discharge_mah = battery.discharged_mah;
_battery_valid = true;

2
src/drivers/osd/atxxxx/atxxxx.h
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@ -111,7 +111,7 @@ private:
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
// battery
float _battery_voltage_filtered_v{0.f};
float _battery_voltage_v{0.f};
float _battery_discharge_mah{0.f};
bool _battery_valid{false};

2
src/drivers/rc/crsf_rc/CrsfRc.cpp
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@ -224,7 +224,7 @@ void CrsfRc::Run()
battery_status_s battery_status;
if (_battery_status_sub.update(&battery_status)) {
uint16_t voltage = battery_status.voltage_filtered_v * 10;
uint16_t voltage = battery_status.voltage_v * 10;
uint16_t current = battery_status.current_a * 10;
int fuel = battery_status.discharged_mah;
uint8_t remaining = battery_status.remaining * 100;

2
src/drivers/rc_input/crsf_telemetry.cpp
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@ -81,7 +81,7 @@ bool CRSFTelemetry::send_battery()
return false;
}
uint16_t voltage = battery_status.voltage_filtered_v * 10;
uint16_t voltage = battery_status.voltage_v * 10;
uint16_t current = battery_status.current_a * 10;
int fuel = battery_status.discharged_mah;
uint8_t remaining = battery_status.remaining * 100;

2
src/drivers/rc_input/ghst_telemetry.cpp
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@ -90,7 +90,7 @@ bool GHSTTelemetry::send_battery_status()
battery_status_s battery_status;
if (_battery_status_sub.update(&battery_status)) {
voltage_in_10mV = battery_status.voltage_filtered_v * FACTOR_VOLTS_TO_10MV;
voltage_in_10mV = battery_status.voltage_v * FACTOR_VOLTS_TO_10MV;
current_in_10mA = battery_status.current_a * FACTOR_AMPS_TO_10MA;
fuel_in_10mAh = battery_status.discharged_mah * FACTOR_MAH_TO_10MAH;
success = ghst_send_telemetry_battery_status(_uart_fd,

1
src/drivers/smart_battery/batmon/batmon.cpp
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@ -146,7 +146,6 @@ void Batmon::RunImpl()
// Convert millivolts to volts.
new_report.voltage_v = ((float)result) / 1000.0f;
new_report.voltage_filtered_v = new_report.voltage_v;
// Read current.
ret |= _interface->read_word(BATT_SMBUS_CURRENT, result);

1
src/drivers/tattu_can/TattuCan.cpp
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@ -115,7 +115,6 @@ void TattuCan::Run()
battery_status.state_of_health = static_cast<uint16_t>(tattu_message.health_status);
battery_status.voltage_v = static_cast<float>(tattu_message.voltage) / 1000.0f;
battery_status.voltage_filtered_v = static_cast<float>(tattu_message.voltage) / 1000.0f;
battery_status.current_a = static_cast<float>(tattu_message.current) / 1000.0f;
battery_status.remaining = static_cast<float>(tattu_message.remaining_percent) / 100.0f;
battery_status.temperature = static_cast<float>(tattu_message.temperature);

1
src/drivers/uavcan/sensors/battery.cpp
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@ -104,7 +104,6 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
_battery_status[instance].timestamp = hrt_absolute_time();
_battery_status[instance].voltage_v = msg.voltage;
_battery_status[instance].voltage_filtered_v = msg.voltage;
_battery_status[instance].current_a = msg.current;
_battery_status[instance].current_average_a = msg.current;

1
src/lib/drivers/smbus_sbs/SBS.hpp
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@ -261,7 +261,6 @@ int SMBUS_SBS_BaseClass<T>::populate_smbus_data(battery_status_s &data)
// Convert millivolts to volts.
data.voltage_v = ((float)result) * 0.001f;
data.voltage_filtered_v = data.voltage_v;
// Read current.
ret |= _interface->read_word(BATT_SMBUS_CURRENT, result);

3
src/modules/mavlink/mavlink_receiver.cpp
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@ -1770,7 +1770,6 @@ MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
}
battery_status.voltage_v = voltage_sum;
battery_status.voltage_filtered_v = voltage_sum;
battery_status.current_a = (float)(battery_mavlink.current_battery) / 100.0f;
battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f;
battery_status.discharged_mah = (float)battery_mavlink.current_consumed;
@ -2372,7 +2371,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_battery_status.timestamp = timestamp;
hil_battery_status.voltage_v = 16.0f;
hil_battery_status.voltage_filtered_v = 16.0f;
hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f;
hil_battery_status.connected = true;
@ -2726,7 +2724,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
{
battery_status_s hil_battery_status{};
hil_battery_status.voltage_v = 11.1f;
hil_battery_status.voltage_filtered_v = 11.1f;
hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f;
hil_battery_status.timestamp = hrt_absolute_time();

4
src/modules/mavlink/streams/BATTERY_STATUS.hpp
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@ -161,10 +161,10 @@ private:
// If it doesn't fit, we have to split it into UINT16-1 chunks and the remaining
// voltage for the subsequent field.
// This won't work for voltages of more than 655 volts.
const int num_fields_required = static_cast<int>(battery_status.voltage_filtered_v * 1000.f) / (UINT16_MAX - 1) + 1;
const int num_fields_required = static_cast<int>(battery_status.voltage_v * 1000.f) / (UINT16_MAX - 1) + 1;
if (num_fields_required <= mavlink_cell_slots) {
float remaining_voltage = battery_status.voltage_filtered_v * 1000.f;
float remaining_voltage = battery_status.voltage_v * 1000.f;
for (int i = 0; i < num_fields_required - 1; ++i) {
bat_msg.voltages[i] = UINT16_MAX - 1;

2
src/modules/mavlink/streams/SYS_STATUS.hpp
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@ -166,7 +166,7 @@ private:
const battery_status_s &lowest_battery = battery_status[lowest_battery_index];
if (lowest_battery.connected) {
msg.voltage_battery = lowest_battery.voltage_filtered_v * 1000.0f;
msg.voltage_battery = lowest_battery.voltage_v * 1000.0f;
msg.current_battery = lowest_battery.current_a * 100.0f;
msg.battery_remaining = ceilf(lowest_battery.remaining * 100.0f);