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Pr external battery monitoring (#4881)

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* mavlink receiver: added handling of battery status

handle incoming battery status messages in order to support external
battery monitoring

Signed-off-by: Roman <bapstr@ethz.ch>

* sensor params: added parameter for battery monitoring source

Signed-off-by: Roman <bapstr@ethz.ch>

* sensors: only publish battery status if we don't have external battery
monitoring activated

Signed-off-by: Roman <bapstr@ethz.ch>
This commit is contained in:
Roman Bapst
2016-06-23 18:41:38 +02:00
committed by Lorenz Meier
parent 9f95f457a9
commit 571798c318
4 changed files with 64 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+41
View File
@@ -258,6 +258,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
case MAVLINK_MSG_ID_GPS_RTCM_DATA:
handle_message_gps_rtcm_data(msg);
break;
case MAVLINK_MSG_ID_BATTERY_STATUS:
handle_message_battery_status(msg);
break;
default:
break;
@@ -1154,6 +1157,44 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
{
// external battery measurements
mavlink_battery_status_t battery_mavlink;
mavlink_msg_battery_status_decode(msg, &battery_mavlink);
battery_status_s battery_status = {};
battery_status.timestamp = hrt_absolute_time();
float voltage_sum = 0.0f;
uint8_t cell_count = 0;
for (unsigned i = 0; i < 10;i++) {
if (battery_mavlink.voltages[i] < UINT16_MAX) {
voltage_sum += (float)(battery_mavlink.voltages[i]) / 1000.0f;
} else {
cell_count = i;
break;
}
}
battery_status.voltage_v = voltage_sum;
battery_status.voltage_filtered_v = voltage_sum;
battery_status.current_a = battery_status.current_filtered_a = (float)(battery_mavlink.current_battery) / 10000.0f;
battery_status.current_filtered_a = battery_status.current_a;
battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f;
battery_status.discharged_mah = (float)battery_mavlink.current_consumed;
battery_status.cell_count = cell_count;
battery_status.connected = true;
if (_battery_pub == nullptr) {
_battery_pub = orb_advertise(ORB_ID(battery_status), &battery_status);
} else {
orb_publish(ORB_ID(battery_status), _battery_pub, &battery_status);
}
}
switch_pos_t
MavlinkReceiver::decode_switch_pos(uint16_t buttons, unsigned sw)
{
src/modules/mavlink/mavlink_receiver.h
+1
View File
@@ -142,6 +142,7 @@ private:
void handle_message_follow_target(mavlink_message_t *msg);
void handle_message_adsb_vehicle(mavlink_message_t *msg);
void handle_message_gps_rtcm_data(mavlink_message_t *msg);
void handle_message_battery_status(mavlink_message_t *msg);
void *receive_thread(void *arg);