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battery: publish measured values also when battery not connected

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This commit is contained in:
Matthias Grob
2021-07-01 14:24:38 +02:00
parent a99ddd0845
commit b824f33ae9
5 changed files with 33 additions and 43 deletions
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src/modules/control_allocator/ControlAllocator.hpp
-1
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@@ -146,7 +146,6 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; /**< battery status subscription */
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)}; /**< airspeed subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -4
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@@ -565,10 +565,8 @@ void FixedwingAttitudeControl::Run()
if (_battery_status_sub.updated()) {
battery_status_s battery_status{};
if (_battery_status_sub.copy(&battery_status)) {
if (battery_status.scale > 0.0f) {
_battery_scale = battery_status.scale;
}
if (_battery_status_sub.copy(&battery_status) && battery_status.connected && battery_status.scale > 0.f) {
_battery_scale = battery_status.scale;
}
}
src/modules/mc_rate_control/MulticopterRateControl.cpp
+1 -1
View File
@@ -241,7 +241,7 @@ MulticopterRateControl::Run()
if (_battery_status_sub.updated()) {
battery_status_s battery_status;
if (_battery_status_sub.copy(&battery_status)) {
if (_battery_status_sub.copy(&battery_status) && battery_status.connected && battery_status.scale > 0.f) {
_battery_status_scale = battery_status.scale;
}
}