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

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Lorenz Meier
2015-05-17 17:44:51 +02:00
parent bbd55a01ce
commit 83fdb9931a
5 changed files with 31 additions and 0 deletions
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src/modules/mavlink/mavlink_messages.cpp
+21
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@@ -543,6 +543,27 @@ protected:
status.battery_remaining * 100.0f : -1;
_mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg);
/* battery status message with higher resolution */
mavlink_battery_status_t bat_msg;
bat_msg.id = 0;
bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL;
bat_msg.type = MAV_BATTERY_TYPE_LIPO;
bat_msg.temperature = INT16_MAX;
for (unsigned i = 0; i < (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); i++) {
if (i < status.battery_cell_count) {
bat_msg.voltages[i] = (status.battery_voltage / status.battery_cell_count) * 1000.0f;
} else {
bat_msg.voltages[i] = 0;
}
}
bat_msg.current_battery = status.battery_current * 100.0f;
bat_msg.current_consumed = status.battery_discharged_mah;
bat_msg.energy_consumed = -1.0f;
bat_msg.battery_remaining = (status.battery_voltage > 0) ?
status.battery_remaining * 100.0f : -1;
_mavlink->send_message(MAVLINK_MSG_ID_BATTERY_STATUS, &bat_msg);
}
}
};