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mavlink: fix HITL battery status publication

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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.
This commit is contained in:
Julian Oes
2021-04-21 08:34:36 +02:00
committed by Daniel Agar
parent cfcc074e9d
commit 6ae23e7b7b
1 changed files with 4 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+4 -2
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@@ -2215,10 +2215,12 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
battery_status_s hil_battery_status{}; battery_status_s hil_battery_status{};
hil_battery_status.timestamp = timestamp; hil_battery_status.timestamp = timestamp;
hil_battery_status.voltage_v = 11.5f; hil_battery_status.voltage_v = 12.0f;
hil_battery_status.voltage_filtered_v = 11.5f; hil_battery_status.voltage_filtered_v = 12.0f;
hil_battery_status.current_a = 10.0f; hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f; hil_battery_status.discharged_mah = -1.0f;
hil_battery_status.connected = true;
hil_battery_status.remaining = 0.70;
_battery_pub.publish(hil_battery_status); _battery_pub.publish(hil_battery_status);
} }