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MAVLink: Fix current reporting

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This commit is contained in:
Lorenz Meier
2016-04-23 14:24:36 +02:00
parent 1b7319d2e5
commit 803880a9f8
1 changed files with 5 additions and 4 deletions
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src/modules/mavlink/mavlink_messages.cpp
+5 -4
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@@ -608,10 +608,14 @@ protected:
_mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg); _mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg);
/* battery status message with higher resolution */ /* battery status message with higher resolution */
mavlink_battery_status_t bat_msg; mavlink_battery_status_t bat_msg = {};
bat_msg.id = 0; bat_msg.id = 0;
bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL; bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL;
bat_msg.type = MAV_BATTERY_TYPE_LIPO; bat_msg.type = MAV_BATTERY_TYPE_LIPO;
bat_msg.current_consumed = battery_status.discharged_mah;
bat_msg.energy_consumed = -1;
bat_msg.current_battery = battery_status.current_a * 100;
bat_msg.battery_remaining = battery_status.remaining >= 0 ? battery_status.remaining * 100.0f : -1;
bat_msg.temperature = INT16_MAX; bat_msg.temperature = INT16_MAX;
for (unsigned int i = 0; i < (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); i++) { for (unsigned int i = 0; i < (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); i++) {
if ((int)i < battery_status.cell_count) { if ((int)i < battery_status.cell_count) {
@@ -621,9 +625,6 @@ protected:
} }
} }
// TODO: calculate this
bat_msg.energy_consumed = -1.0f;
_mavlink->send_message(MAVLINK_MSG_ID_BATTERY_STATUS, &bat_msg); _mavlink->send_message(MAVLINK_MSG_ID_BATTERY_STATUS, &bat_msg);
} }
} }