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Introduced battery_status uORB topic, changed sensors app to publish to it, extended px4io driver to publish to it. Both do only so if the battery voltage is reasonably high, at 3.3V

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Lorenz Meier
2013-01-01 13:30:24 +01:00
parent d93fda20fd
commit 4eb7df6ff5
7 changed files with 140 additions and 21 deletions
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apps/drivers/px4io/px4io.cpp
+25
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@@ -73,6 +73,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/battery_status.h>
#include <px4io/protocol.h>
#include "uploader.h"
@@ -109,6 +110,9 @@ private:
orb_advert_t _to_input_rc; ///< rc inputs from io
rc_input_values _input_rc; ///< rc input values
orb_advert_t _to_battery; ///< battery status / voltage
battery_status_s _battery_status;///< battery status data
orb_advert_t _t_outputs; ///< mixed outputs topic
actuator_outputs_s _outputs; ///< mixed outputs
@@ -321,6 +325,10 @@ PX4IO::task_main()
memset(&_input_rc, 0, sizeof(_input_rc));
_to_input_rc = orb_advertise(ORB_ID(input_rc), &_input_rc);
/* do not advertise the battery status until its clear that a battery is connected */
memset(&_input_rc, 0, sizeof(_input_rc));
_to_battery = -1;
/* poll descriptor */
pollfd fds[3];
fds[0].fd = _serial_fd;
@@ -479,6 +487,23 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
/* remember the latched arming switch state */
_switch_armed = rep->armed;
/* publish battery information */
/* only publish if battery has a valid minimum voltage */
if (rep->battery_mv > 3300) {
_battery_status.timestamp = hrt_absolute_time();
_battery_status.voltage_v = rep->battery_mv / 1000.0f;
/* current and discharge are unknown */
_battery_status.current_a = -1.0f;
_battery_status.discharged_mah = -1.0f;
/* announce the battery voltage if needed, just publish else */
if (_to_battery > 0) {
orb_publish(ORB_ID(battery_status), _to_battery, &_battery_status);
} else {
_to_battery = orb_advertise(ORB_ID(battery_status), &_battery_status);
}
}
_send_needed = true;
/* if monitoring, dump the received info */