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Update to RFC with capacity_ fields

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This commit is contained in:
Hamish Willee 2022-06-02 14:33:01 +10:00
parent 1d189100b5
commit 5decb82b94
1 changed files with 3 additions and 3 deletions
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6
src/modules/mavlink/streams/BATTERY_STATUS_V2.hpp
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@ -71,7 +71,7 @@ private:
// TODO: Determine how to better map between battery ID within the firmware and in MAVLink
bat_msg.id = battery_status.id - 1;
bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : UINT32_MAX;
bat_msg.capacity_consumed = (battery_status.connected) ? battery_status.discharged_mah : UINT32_MAX;
bat_msg.current = (battery_status.connected) ? battery_status.current_filtered_a * 1000 : UINT32_MAX; // mA
bat_msg.percent_remaining = (battery_status.connected) ? roundf(battery_status.remaining * 100.f) : UINT32_MAX;
bat_msg.status_flags = battery_status.status_flags;
@ -79,10 +79,10 @@ private:
// get remaining charge in mAH
if (battery_status.connected && PX4_ISFINITE(battery_status.remaining_capacity_wh) && (battery_status.voltage_filtered_v > 0.f) ) {
bat_msg.current_remaining = (battery_status.remaining_capacity_wh / battery_status.voltage_filtered_v) * 1000.f; // mAH
bat_msg.capacity_remaining = (battery_status.remaining_capacity_wh / battery_status.voltage_filtered_v) * 1000.f; // mAH
} else {
bat_msg.current_remaining = UINT32_MAX;
bat_msg.capacity_remaining = UINT32_MAX;
}
// check if temperature valid