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mavlink: move BATTERY_STATUS to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent dc1418a3b4
commit 801202f208
2 changed files with 138 additions and 123 deletions
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src/modules/mavlink/mavlink_messages.cpp
+1 -123
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@@ -101,6 +101,7 @@ using matrix::wrap_2pi;
#include "streams/ATTITUDE_QUATERNION.hpp"
#include "streams/ATTITUDE_TARGET.hpp"
#include "streams/AUTOPILOT_VERSION.hpp"
#include "streams/BATTERY_STATUS.hpp"
#include "streams/CAMERA_IMAGE_CAPTURED.hpp"
#include "streams/COLLISION.hpp"
#include "streams/COMPONENT_INFORMATION.hpp"
@@ -559,129 +560,6 @@ protected:
}
};
class MavlinkStreamBatteryStatus : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamBatteryStatus::get_name_static();
}
static constexpr const char *get_name_static()
{
return "BATTERY_STATUS";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_BATTERY_STATUS;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamBatteryStatus(mavlink);
}
unsigned get_size() override
{
static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
return size_per_battery * _battery_status_subs.advertised_count();
}
private:
uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
/* do not allow top copying this class */
MavlinkStreamBatteryStatus(MavlinkStreamSysStatus &) = delete;
MavlinkStreamBatteryStatus &operator = (const MavlinkStreamSysStatus &) = delete;
protected:
explicit MavlinkStreamBatteryStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{
}
bool send() override
{
bool updated = false;
for (auto &battery_sub : _battery_status_subs) {
battery_status_s battery_status;
if (battery_sub.update(&battery_status)) {
/* battery status message with higher resolution */
mavlink_battery_status_t bat_msg{};
// TODO: Determine how to better map between battery ID within the firmware and in MAVLink
bat_msg.id = battery_status.id - 1;
bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL;
bat_msg.type = MAV_BATTERY_TYPE_LIPO;
bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1;
bat_msg.energy_consumed = -1;
bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1;
bat_msg.battery_remaining = (battery_status.connected) ? ceilf(battery_status.remaining * 100.0f) : -1;
bat_msg.time_remaining = (battery_status.connected) ? battery_status.run_time_to_empty * 60 : 0;
switch (battery_status.warning) {
case (battery_status_s::BATTERY_WARNING_NONE):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_OK;
break;
case (battery_status_s::BATTERY_WARNING_LOW):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_LOW;
break;
case (battery_status_s::BATTERY_WARNING_CRITICAL):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_CRITICAL;
break;
case (battery_status_s::BATTERY_WARNING_EMERGENCY):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_EMERGENCY;
break;
case (battery_status_s::BATTERY_WARNING_FAILED):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_FAILED;
break;
default:
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_UNDEFINED;
break;
}
// check if temperature valid
if (battery_status.connected && PX4_ISFINITE(battery_status.temperature)) {
bat_msg.temperature = battery_status.temperature * 100.0f;
} else {
bat_msg.temperature = INT16_MAX;
}
static constexpr int mavlink_cells_max = (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0]));
static constexpr int uorb_cells_max =
(sizeof(battery_status.voltage_cell_v) / sizeof(battery_status.voltage_cell_v[0]));
for (int cell = 0; cell < mavlink_cells_max; cell++) {
if (battery_status.connected && (cell < battery_status.cell_count) && (cell < uorb_cells_max)) {
bat_msg.voltages[cell] = battery_status.voltage_cell_v[cell] * 1000.0f;
} else {
bat_msg.voltages[cell] = UINT16_MAX;
}
}
mavlink_msg_battery_status_send_struct(_mavlink->get_channel(), &bat_msg);
updated = true;
}
}
return updated;
}
};
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public: