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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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src/modules/mavlink/mavlink_receiver.cpp
-3
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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();
src/modules/mavlink/streams/BATTERY_STATUS.hpp
+2 -2
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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;
src/modules/mavlink/streams/SYS_STATUS.hpp
+1 -1
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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);