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mavlink: split BATTERY_STATUS from SYS_STATUS update and handle all bricks (#12034)

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This commit is contained in:
Daniel Agar
2019-07-18 13:32:41 +02:00
committed by Beat Küng
parent 51d4239eee
commit 9986a88697
4 changed files with 199 additions and 58 deletions
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src/modules/mavlink/mavlink_high_latency2.cpp
+47 -13
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@@ -70,8 +70,6 @@ MavlinkStreamHighLatency2::MavlinkStreamHighLatency2(Mavlink *mavlink) : Mavlink
_airspeed_time(0),
_attitude_sp_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude_setpoint))),
_attitude_sp_time(0),
_battery_sub(_mavlink->add_orb_subscription(ORB_ID(battery_status))),
_battery_time(0),
_estimator_status_sub(_mavlink->add_orb_subscription(ORB_ID(estimator_status))),
_estimator_status_time(0),
_pos_ctrl_status_sub(_mavlink->add_orb_subscription(ORB_ID(position_controller_status))),
@@ -94,7 +92,6 @@ MavlinkStreamHighLatency2::MavlinkStreamHighLatency2(Mavlink *mavlink) : Mavlink
_wind_time(0),
_airspeed(SimpleAnalyzer::AVERAGE),
_airspeed_sp(SimpleAnalyzer::AVERAGE),
_battery(SimpleAnalyzer::AVERAGE),
_climb_rate(SimpleAnalyzer::MAX),
_eph(SimpleAnalyzer::MAX),
_epv(SimpleAnalyzer::MAX),
@@ -103,6 +100,11 @@ MavlinkStreamHighLatency2::MavlinkStreamHighLatency2(Mavlink *mavlink) : Mavlink
_throttle(SimpleAnalyzer::AVERAGE),
_windspeed(SimpleAnalyzer::AVERAGE)
{
for (int i = 0; i < BOARD_NUMBER_BRICKS; i++) {
_batteries[i].subscription = _mavlink->add_orb_subscription(ORB_ID(battery_status), i);
}
reset_last_sent();
}
@@ -116,7 +118,11 @@ bool MavlinkStreamHighLatency2::send(const hrt_abstime t)
bool updated = _airspeed.valid();
updated |= _airspeed_sp.valid();
updated |= _battery.valid();
for (int i = 0; i < BOARD_NUMBER_BRICKS; i++) {
updated |= _batteries[i].analyzer.valid();
}
updated |= _climb_rate.valid();
updated |= _eph.valid();
updated |= _epv.valid();
@@ -151,10 +157,27 @@ bool MavlinkStreamHighLatency2::send(const hrt_abstime t)
_airspeed_sp.get_scaled(msg.airspeed_sp, 5.0f);
}
if (_battery.valid()) {
_battery.get_scaled(msg.battery, 100.0f);
int lowest = 0;
for (int i = 1; i < BOARD_NUMBER_BRICKS; i++) {
const bool battery_connected = _batteries[i].connected && _batteries[i].analyzer.valid();
const bool battery_is_lowest = _batteries[i].analyzer.get_scaled(100.0f) <= _batteries[lowest].analyzer.get_scaled(
100.0f);
if (battery_connected && battery_is_lowest) {
lowest = i;
}
}
if (_batteries[lowest].connected) {
_batteries[lowest].analyzer.get_scaled(msg.battery, 100.0f);
} else {
msg.battery = -1;
}
if (_climb_rate.valid()) {
_climb_rate.get_scaled(msg.climb_rate, 10.0f);
}
@@ -206,7 +229,11 @@ void MavlinkStreamHighLatency2::reset_analysers(const hrt_abstime t)
// reset the analyzers
_airspeed.reset();
_airspeed_sp.reset();
_battery.reset();
for (int i = 0; i < BOARD_NUMBER_BRICKS; i++) {
_batteries[i].analyzer.reset();
}
_climb_rate.reset();
_eph.reset();
_epv.reset();
@@ -249,12 +276,16 @@ bool MavlinkStreamHighLatency2::write_attitude_sp(mavlink_high_latency2_t *msg)
bool MavlinkStreamHighLatency2::write_battery_status(mavlink_high_latency2_t *msg)
{
struct battery_status_s battery;
bool updated = false;
const bool updated = _battery_sub->update(&_battery_time, &battery);
for (int i = 0; i < BOARD_NUMBER_BRICKS; i++) {
if (_batteries[i].subscription->update(&_batteries[i].timestamp, &battery)) {
updated = true;
_batteries[i].connected = battery.connected;
if (_battery_time > 0) {
if (battery.warning > battery_status_s::BATTERY_WARNING_LOW) {
msg->failure_flags |= HL_FAILURE_FLAG_BATTERY;
if (battery.warning > battery_status_s::BATTERY_WARNING_LOW) {
msg->failure_flags |= HL_FAILURE_FLAG_BATTERY;
}
}
}
@@ -504,8 +535,11 @@ void MavlinkStreamHighLatency2::update_battery_status()
{
battery_status_s battery;
if (_battery_sub->update(&battery)) {
_battery.add_value(battery.remaining, _update_rate_filtered);
for (int i = 0; i < BOARD_NUMBER_BRICKS; i++) {
if (_batteries[i].subscription->update(&battery)) {
_batteries[i].connected = battery.connected;
_batteries[i].analyzer.add_value(battery.remaining, _update_rate_filtered);
}
}
}