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UAVCAN: Fixed CAN battery status

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* Set battery.voltage_filtered_v and battery.current_filtered_a value
* Fixed battery.remaining error when full_charge_capacity_wh is zero
This commit is contained in:
CUAVcaijie 2019-11-01 10:35:04 +08:00 committed by Daniel Agar
parent e39e73cea1
commit 77a896a0dd
1 changed files with 12 additions and 3 deletions
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15
src/drivers/uavcan/sensors/battery.cpp
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@ -69,12 +69,21 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
battery.timestamp = hrt_absolute_time();
battery.voltage_v = msg.voltage;
// battery.voltage_filtered_v = msg.;
battery.voltage_filtered_v = battery.voltage_v;
battery.current_a = msg.current;
// battery.current_filtered_a = msg.;
battery.current_filtered_a = battery.current_a;
// battery.average_current_a = msg.;
// battery.discharged_mah = msg.;
battery.remaining = msg.remaining_capacity_wh / msg.full_charge_capacity_wh; // between 0 and 1
// between 0 and 1
if (msg.full_charge_capacity_wh > 0) {
battery.remaining = msg.remaining_capacity_wh / msg.full_charge_capacity_wh;
} else {
battery.remaining = 0;
}
// battery.scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
battery.temperature = msg.temperature;
// battery.cell_count = msg.;