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ghst_telemetry: send battery status

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Send battery status (ghst_telemetry). Apply factors to show correct values of volts, amps and mAh. Change ghost protocol code to follow more MISRA C++ guidelines.
This commit is contained in:
jciberlin
2021-03-15 09:42:53 +01:00
committed by Lorenz Meier
parent af3573e464
commit 6f5efbeab5
8 changed files with 157 additions and 132 deletions
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src/drivers/rc_input/ghst_telemetry.cpp
+33 -23
View File
@@ -40,8 +40,10 @@
* @author Juraj Ciberlin <jciberlin1@gmail.com>
*/
#include "ghst_telemetry.h"
#include <lib/rc/ghst.h>
#include "ghst_telemetry.hpp"
#include <lib/rc/ghst.hpp>
using time_literals::operator ""_s;
GHSTTelemetry::GHSTTelemetry(int uart_fd) :
_uart_fd(uart_fd)
@@ -50,36 +52,44 @@ GHSTTelemetry::GHSTTelemetry(int uart_fd) :
bool GHSTTelemetry::update(const hrt_abstime &now)
{
const int update_rate_hz = 10;
bool success = false;
if (now - _last_update <= 1_s / (update_rate_hz * num_data_types)) {
return false;
if ((now - _last_update) > (1_s / (UPDATE_RATE_HZ * NUM_DATA_TYPES))) {
switch (_next_type) {
case 0U:
success = send_battery_status();
break;
default:
success = false;
break;
}
_last_update = now;
_next_type = (_next_type + 1U) % NUM_DATA_TYPES;
}
bool sent = false;
switch (_next_type) {
case 0:
sent = send_battery_status();
break;
}
_last_update = now;
_next_type = (_next_type + 1) % num_data_types;
return sent;
return success;
}
bool GHSTTelemetry::send_battery_status()
{
bool success = false;
float voltage_in_10mV;
float current_in_10mA;
float fuel_in_10mAh;
battery_status_s battery_status;
if (!_battery_status_sub.update(&battery_status)) {
return false;
if (_battery_status_sub.update(&battery_status)) {
voltage_in_10mV = battery_status.voltage_filtered_v * FACTOR_VOLTS_TO_10MV;
current_in_10mA = battery_status.current_filtered_a * FACTOR_AMPS_TO_10MA;
fuel_in_10mAh = battery_status.discharged_mah * FACTOR_MAH_TO_10MAH;
success = ghst_send_telemetry_battery_status(_uart_fd,
static_cast<uint16_t>(voltage_in_10mV),
static_cast<uint16_t>(current_in_10mA),
static_cast<uint16_t>(fuel_in_10mAh));
}
uint16_t voltage = battery_status.voltage_filtered_v * 10;
uint16_t current = battery_status.current_filtered_a * 10;
uint16_t fuel = battery_status.discharged_mah;
return ghst_send_telemetry_battery(_uart_fd, voltage, current, fuel);
return success;
}