fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 03:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into ram_cleanup

Browse Source
This commit is contained in:
Lorenz Meier
2015-10-11 16:01:15 +02:00
parent 428297fd6f 67087c6428
commit 980ddeac08
10 changed files with 38 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_messages.cpp
+14 -6
View File
@@ -556,7 +556,7 @@ protected:
msg.errors_count2 = status.errors_count2;
msg.errors_count3 = status.errors_count3;
msg.errors_count4 = status.errors_count4;
msg.battery_remaining = (msg.voltage_battery > 0) ?
msg.battery_remaining = (status.condition_battery_voltage_valid) ?
status.battery_remaining * 100.0f : -1;
_mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg);
@@ -571,14 +571,22 @@ protected:
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.voltages[i] = UINT16_MAX;
}
}
bat_msg.current_battery = status.battery_current * 100.0f;
bat_msg.current_consumed = status.battery_discharged_mah;
if (status.condition_battery_voltage_valid) {
bat_msg.current_battery = (bat_msg.current_battery >= 0.0f) ?
status.battery_current * 100.0f : -1;
bat_msg.current_consumed = (bat_msg.current_consumed >= 0.0f) ?
status.battery_discharged_mah : -1;
bat_msg.battery_remaining = status.battery_remaining * 100.0f;
} else {
bat_msg.current_battery = -1.0f;
bat_msg.current_consumed = -1.0f;
bat_msg.battery_remaining = -1.0f;
}
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);
}
src/modules/sensors/sensor_params.c
-1
View File
@@ -1810,7 +1810,6 @@ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
/**
* Scaling factor for battery voltage sensor on FMU v2.
*
* @board CONFIG_ARCH_BOARD_PX4FMU_V2
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_SCALING, -1.0f);
src/modules/uavcan/uavcan_main.cpp
+2
View File
@@ -530,8 +530,10 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
* fail during initialization.
*/
#ifdef GPIO_CAN1_RX
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
#endif
stm32_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
stm32_configgpio(GPIO_CAN2_TX);