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set battery warning for MAVLink battery status (#6890)

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This commit is contained in:
Jon Watson 2017-04-13 11:37:19 -05:00 committed by Daniel Agar
parent 340773096d
commit 3fda79ef8b
2 changed files with 28 additions and 1 deletions
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25
src/modules/mavlink/mavlink_receiver.cpp
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@ -147,7 +147,10 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_time_offset(0),
_orb_class_instance(-1),
_mom_switch_pos{},
_mom_switch_state(0)
_mom_switch_state(0),
_p_bat_emergen_thr(param_find("BAT_EMERGEN_THR")),
_p_bat_crit_thr(param_find("BAT_CRIT_THR")),
_p_bat_low_thr(param_find("BAT_LOW_THR"))
{
}
@ -1360,6 +1363,26 @@ MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
battery_status.cell_count = cell_count;
battery_status.connected = true;
// Get the battery level thresholds.
float bat_emergen_thr;
float bat_crit_thr;
float bat_low_thr;
param_get(_p_bat_emergen_thr, &bat_emergen_thr);
param_get(_p_bat_crit_thr, &bat_crit_thr);
param_get(_p_bat_low_thr, &bat_low_thr);
// Set the battery warning based on remaining charge.
// Note: Smallest values must come first in evaluation.
if (battery_status.remaining < bat_emergen_thr) {
battery_status.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
} else if (battery_status.remaining < bat_crit_thr) {
battery_status.warning = battery_status_s::BATTERY_WARNING_CRITICAL;
} else if (battery_status.remaining < bat_low_thr) {
battery_status.warning = battery_status_s::BATTERY_WARNING_LOW;
}
if (_battery_pub == nullptr) {
_battery_pub = orb_advertise(ORB_ID(battery_status), &battery_status);

4
src/modules/mavlink/mavlink_receiver.h
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@ -252,6 +252,10 @@ private:
uint8_t _mom_switch_pos[MOM_SWITCH_COUNT];
uint16_t _mom_switch_state;
param_t _p_bat_emergen_thr;
param_t _p_bat_crit_thr;
param_t _p_bat_low_thr;
/* do not allow copying this class */
MavlinkReceiver(const MavlinkReceiver &);
MavlinkReceiver operator=(const MavlinkReceiver &);