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mavlink: 14S battery support

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CUAVmengxiao
2021-06-04 15:20:22 +08:00
committed by Daniel Agar
parent ad9288536b
commit 98fb373590
1 changed files with 11 additions and 0 deletions
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src/modules/mavlink/streams/BATTERY_STATUS.hpp
+11
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@@ -125,6 +125,17 @@ private:
}
}
static constexpr int mavlink_cells_ext_max = (sizeof(bat_msg.voltages_ext) / sizeof(bat_msg.voltages_ext[0]));
for (int cell = mavlink_cells_max; cell < mavlink_cells_max + mavlink_cells_ext_max; cell++) {
if (battery_status.connected && (cell < battery_status.cell_count) && (cell < uorb_cells_max)) {
bat_msg.voltages_ext[cell - mavlink_cells_max] = battery_status.voltage_cell_v[cell] * 1000.0f;
} else {
bat_msg.voltages_ext[cell - mavlink_cells_max] = UINT16_MAX;
}
}
mavlink_msg_battery_status_send_struct(_mavlink->get_channel(), &bat_msg);
updated = true;
}