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Sensors app: Send proper throttle setting to battery charge level estimator

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This commit is contained in:
Lorenz Meier 2016-04-29 11:02:51 +02:00
parent 49d174aae4
commit 343b8fb50f
1 changed files with 5 additions and 4 deletions
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9
src/modules/sensors/sensors.cpp
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@ -217,6 +217,7 @@ private:
int _accel_sub[SENSOR_COUNT_MAX]; /**< raw accel data subscription */
int _mag_sub[SENSOR_COUNT_MAX]; /**< raw mag data subscription */
int _baro_sub[SENSOR_COUNT_MAX]; /**< raw baro data subscription */
int _actuator_ctrl_0_sub; /**< attitude controls sub */
unsigned _gyro_count; /**< raw gyro data count */
unsigned _accel_count; /**< raw accel data count */
unsigned _mag_count; /**< raw mag data count */
@ -1701,10 +1702,9 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
if (updated_battery) {
// XXX TODO: throttle is hardcoded here. The dependency to throttle would need to be
// removed, or it needs to be subscribed to actuator controls.
const float throttle = 0.5f;
_battery.updateBatteryStatus(t, bat_voltage_v, bat_current_a, throttle, &_battery_status);
actuator_controls_s ctrl;
orb_copy(ORB_ID(actuator_controls_0), _actuator_ctrl_0_sub, &ctrl);
_battery.updateBatteryStatus(t, bat_voltage_v, bat_current_a, ctrl.control[actuator_controls_s::INDEX_THROTTLE], &_battery_status);
/* announce the battery status if needed, just publish else */
if (_battery_pub != nullptr) {
@ -2123,6 +2123,7 @@ Sensors::task_main()
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_actuator_ctrl_0_sub = orb_subscribe(ORB_ID(actuator_controls_0));
/*
* do advertisements