From 6b23e28971146288f49ab3ece74467dfa6f10b1c Mon Sep 17 00:00:00 2001
From: stou-sandalski <54725996+stou-sandalski@users.noreply.github.com>
Date: Sun, 8 Nov 2020 03:34:41 -0800
Subject: [PATCH] Fix for missing battery voltage from UAVCAN power modules
 (#16138)

It seems that battery.voltage_* is no longer used and QGC is getting voltage data from the cell voltage array instead.
---
 src/drivers/uavcan/sensors/battery.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/drivers/uavcan/sensors/battery.cpp b/src/drivers/uavcan/sensors/battery.cpp
index 27791d6b10..8a9c279442 100644
--- a/src/drivers/uavcan/sensors/battery.cpp
+++ b/src/drivers/uavcan/sensors/battery.cpp
@@ -95,7 +95,12 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 	battery.serial_number = msg.model_instance_id;
 	battery.id = msg.getSrcNodeID().get();
 
-	// battery.voltage_cell_v[0] = msg.;
+	// Mavlink 2 needs individual cell voltages or cell[0] if cell voltages are not available.
+	battery.voltage_cell_v[0] = msg.voltage;
+
+	// Set cell count to 1 so the the battery code in mavlink_messages.cpp copies the values correctly (hack?)
+	battery.cell_count = 1;
+
 	// battery.max_cell_voltage_delta = msg.;
 
 	// battery.is_powering_off = msg.;