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commander / mavlink: Add battery status to output BATTERY_STATUS MAVLink message

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Lorenz Meier
2015-05-17 17:44:32 +02:00
parent bbd55a01ce
commit 83fdb9931a
5 changed files with 31 additions and 0 deletions
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src/modules/commander/commander.cpp
+2
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@@ -1502,7 +1502,9 @@ int commander_thread_main(int argc, char *argv[])
if (hrt_absolute_time() > commander_boot_timestamp + 2000000 && battery.voltage_filtered_v > 0.0f) {
status.battery_voltage = battery.voltage_filtered_v;
status.battery_current = battery.current_a;
status.battery_discharged_mah = battery.discharged_mah;
status.condition_battery_voltage_valid = true;
status.battery_cell_count = battery_get_n_cells();
/* get throttle (if armed), as we only care about energy negative throttle also counts */
float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f;