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Added Power Brick related battery_status.msg fields

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system_source - This battery status is for the brick that is
                   supplying VDD_5V_IN
   priority      - Zero based, This battery status is for the brick
                   that is connected to the Power controller's
                   N-1 priority input. V1..VN. 0 would normally be
                   Brick1, 1 for Brick2 etc

  Battery now assigns connected from the api in the
  updateBatteryStatus, as well as system_source and priority
This commit is contained in:
David Sidrane
2017-07-17 21:02:50 -10:00
parent 579b55f2cb
commit 8e8510f398
7 changed files with 23 additions and 8 deletions
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src/modules/systemlib/battery.cpp
+6 -2
View File
@@ -83,7 +83,9 @@ Battery::reset(battery_status_s *battery_status)
}
void
Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, float throttle_normalized,
Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
bool connected, bool selected_source, int priority,
float throttle_normalized,
bool armed, battery_status_s *battery_status)
{
reset(battery_status);
@@ -104,7 +106,9 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
battery_status->discharged_mah = _discharged_mah;
battery_status->warning = _warning;
battery_status->remaining = _remaining;
battery_status->connected = true;
battery_status->connected = connected;
battery_status->system_source = selected_source;
battery_status->priority = priority;
}
}
src/modules/systemlib/battery.h
+6 -1
View File
@@ -85,9 +85,14 @@ public:
*
* @param voltage_v: current voltage in V
* @param current_a: current current in A
* @param connected: Battery is connected
* @param selected_source: This battery is on the brick that the selected source for selected_source
* @param priority: The brick number -1. The term priority refers to the Vn connection on the LTC4417
* @param throttle_normalized: throttle from 0 to 1
*/
void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, float throttle_normalized,
void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a,
bool connected, bool selected_source, int priority,
float throttle_normalized,
bool armed, battery_status_s *status);
private: