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battery_status: clearly define and handle zero remaining flight time

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This commit is contained in:
Matthias Grob
2021-11-15 15:44:02 +01:00
parent 73287e8e8c
commit 91c48606ee
3 changed files with 4 additions and 4 deletions
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src/modules/mavlink/streams/BATTERY_STATUS.hpp
+2 -2
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@@ -76,8 +76,8 @@ private:
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.f) : -1;
// MAVLink extension: 0 is unsupported, in uORB it's -1
bat_msg.time_remaining = (battery_status.connected && (battery_status.time_remaining_s >= 0.f)) ?
// MAVLink extension: 0 is unsupported, in uORB it's NAN
bat_msg.time_remaining = (battery_status.connected && (PX4_ISFINITE(battery_status.time_remaining_s))) ?
math::max((int)battery_status.time_remaining_s, 1) : 0;
switch (battery_status.warning) {