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battery_status: report remaining flight time in seconds

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This allows more accurate reporting and is compliant with the
MAVLink interface.
This commit is contained in:
Matthias Grob
2021-06-25 12:13:44 +02:00
parent 4ba84d56c9
commit 54f2e91775
7 changed files with 9 additions and 7 deletions
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src/modules/mavlink/streams/BATTERY_STATUS.hpp
+3 -1
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@@ -76,7 +76,9 @@ private:
bat_msg.energy_consumed = -1;
bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1;
bat_msg.battery_remaining = (battery_status.connected) ? ceilf(battery_status.remaining * 100.f) : -1;
bat_msg.time_remaining = (battery_status.connected) ? battery_status.run_time_to_empty * 60 : 0;
// MAVLink extension: 0 is unsupported, in uORB it's -1
bat_msg.time_remaining = (battery_status.connected && (battery_status.time_remaining_s >= 0.f)) ?
math::max((int)battery_status.time_remaining_s, 1) : 0;
switch (battery_status.warning) {
case (battery_status_s::BATTERY_WARNING_NONE):