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mavlink: fix BATTERY_STATUS extension

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The extension fields need to be 0 by default according to the MAVLink
spec. This is because extensions are 0 by default and need to be 0 when
unknown/unused for backwards compatibility.

The patch also simplifies the flow slightly in that it doesn't create a
temporary array but just fills in the cell voltages directly.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2023-08-29 13:23:55 +02:00
committed by Matthias Grob
parent 0f260fc26c
commit 74b4902e50
1 changed files with 17 additions and 17 deletions
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src/modules/mavlink/streams/BATTERY_STATUS.hpp
+17 -17
View File
@@ -142,16 +142,21 @@ private:
static constexpr int mavlink_cell_slots = (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); static constexpr int mavlink_cell_slots = (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0]));
static constexpr int mavlink_cell_slots_extension static constexpr int mavlink_cell_slots_extension
= (sizeof(bat_msg.voltages_ext) / sizeof(bat_msg.voltages_ext[0])); = (sizeof(bat_msg.voltages_ext) / sizeof(bat_msg.voltages_ext[0]));
uint16_t cell_voltages[mavlink_cell_slots + mavlink_cell_slots_extension];
for (auto &voltage : cell_voltages) { // Fill defaults first, voltage fields 1-10
voltage = UINT16_MAX; for (int i = 0; i < mavlink_cell_slots; ++i) {
bat_msg.voltages[i] = UINT16_MAX;
}
// And extensions fields 11-14: 0 if unused for backwards compatibility and 0 truncation.
for (int i = 0; i < mavlink_cell_slots_extension; ++i) {
bat_msg.voltages_ext[i] = 0;
} }
if (battery_status.connected) { if (battery_status.connected) {
// We don't know the cell count or we don't know the indpendent cell voltages so we report the total voltage in the first cell // We don't know the cell count or we don't know the indpendent cell voltages so we report the total voltage in the first cell.
if (battery_status.cell_count == 0 || battery_status.voltage_cell_v[0] < 0.0001f) { if (battery_status.cell_count == 0 || battery_status.voltage_cell_v[0] < 0.0001f) {
cell_voltages[0] = battery_status.voltage_filtered_v * 1000.f; bat_msg.voltages[0] = battery_status.voltage_filtered_v * 1000.f;
} else { } else {
static constexpr int uorb_cell_slots = static constexpr int uorb_cell_slots =
@@ -161,22 +166,17 @@ private:
uorb_cell_slots, uorb_cell_slots,
mavlink_cell_slots + mavlink_cell_slots_extension); mavlink_cell_slots + mavlink_cell_slots_extension);
for (int cell = 0; cell < cell_slots; cell++) { for (int i = 0; i < cell_slots; ++i) {
cell_voltages[cell] = battery_status.voltage_cell_v[cell] * 1000.f; if (i < mavlink_cell_slots) {
bat_msg.voltages[i] = battery_status.voltage_cell_v[i] * 1000.f;
} else if (i < mavlink_cell_slots + mavlink_cell_slots_extension) {
bat_msg.voltages_ext[i - mavlink_cell_slots] = battery_status.voltage_cell_v[i] * 1000.f;
}
} }
} }
} }
// voltage fields 1-10
for (int cell = 0; cell < mavlink_cell_slots; cell++) {
bat_msg.voltages[cell] = cell_voltages[cell];
}
// voltage fields 11-14 into the extension
for (int cell = 0; cell < mavlink_cell_slots_extension; cell++) {
bat_msg.voltages_ext[cell] = cell_voltages[mavlink_cell_slots + cell];
}
mavlink_msg_battery_status_send_struct(_mavlink->get_channel(), &bat_msg); mavlink_msg_battery_status_send_struct(_mavlink->get_channel(), &bat_msg);
updated = true; updated = true;
} }