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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/sensors/sensors.cpp
+6 -1
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@@ -319,6 +319,7 @@ private:
float battery_current_offset;
float battery_v_div;
float battery_a_per_v;
int32_t battery_source;
float baro_qnh;
@@ -381,6 +382,7 @@ private:
param_t battery_current_offset;
param_t battery_v_div;
param_t battery_a_per_v;
param_t battery_source;
param_t board_rotation;
@@ -653,6 +655,7 @@ Sensors::Sensors() :
_parameter_handles.battery_current_offset = param_find("BAT_V_OFFS_CURR");
_parameter_handles.battery_v_div = param_find("BAT_V_DIV");
_parameter_handles.battery_a_per_v = param_find("BAT_A_PER_V");
_parameter_handles.battery_source = param_find("BAT_SOURCE");
/* rotations */
_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
@@ -948,6 +951,8 @@ Sensors::parameters_update()
#endif
}
param_get(_parameter_handles.battery_source, &(_parameters.battery_source));
param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
@@ -1718,7 +1723,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
if (updated_battery) {
if (_parameters.battery_source == 0 && updated_battery) {
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],