From 6ae23e7b7bc5eabe63a9a933a80f3f502b1f2e73 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 21 Apr 2021 08:34:36 +0200 Subject: [PATCH] mavlink: fix HITL battery status publication Without these fields the pre-arm check would complain and fail. Also, the voltage is adjusted to be at around 70% rather than 30% which would almost start to trigger warnings. --- src/modules/mavlink/mavlink_receiver.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 187c88012f..318a092a2e 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -2215,10 +2215,12 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) battery_status_s hil_battery_status{}; hil_battery_status.timestamp = timestamp; - hil_battery_status.voltage_v = 11.5f; - hil_battery_status.voltage_filtered_v = 11.5f; + hil_battery_status.voltage_v = 12.0f; + hil_battery_status.voltage_filtered_v = 12.0f; hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; + hil_battery_status.connected = true; + hil_battery_status.remaining = 0.70; _battery_pub.publish(hil_battery_status); }