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battery_status: remove unused smart battery mode

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This commit is contained in:
Matthias Grob 2024-07-19 15:32:01 +02:00 committed by Silvan Fuhrer
parent a18c18e163
commit ba579245fb
4 changed files with 10 additions and 80 deletions
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7
msg/BatteryStatus.msg
View File

@ -55,13 +55,6 @@ uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication.
uint8 warning # Current battery warning
uint8 mode # Battery mode. Note, the normal operation mode
uint8 BATTERY_MODE_UNKNOWN = 0 # Battery does not support a mode, or if it does, is operational
uint8 BATTERY_MODE_AUTO_DISCHARGING = 1 # Battery is auto discharging (towards storage level)
uint8 BATTERY_MODE_HOT_SWAP = 2 # Battery in hot-swap mode
uint8 BATTERY_MODE_COUNT = 3 # Counter - keep it as last element (once we're fully migrated to events interface we can just comment this)!
uint8 MAX_INSTANCES = 4

18
src/lib/events/enums.json
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@ -660,24 +660,6 @@
}
}
},
"battery_mode_t": {
"type": "uint8_t",
"description": "Smart battery modes of operation",
"entries": {
"0": {
"name": "unknown",
"description": "unknown"
},
"1": {
"name": "autodischarging",
"description": "auto discharging towards storage level"
},
"2": {
"name": "hotswap",
"description": "hot-swap"
}
}
},
"esc_fault_reason_t": {
"type": "uint8_t",
"description": "Bitfield for ESC failure reason",

50
src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
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@ -72,22 +72,6 @@ static constexpr const char *battery_fault_reason_str(battery_fault_reason_t bat
return "";
};
using battery_mode_t = events::px4::enums::battery_mode_t;
static_assert(battery_status_s::BATTERY_MODE_COUNT == (static_cast<uint8_t>(battery_mode_t::_max) + 1)
, "Battery mode flags mismatch!");
static constexpr const char *battery_mode_str(battery_mode_t battery_mode)
{
switch (battery_mode) {
case battery_mode_t::autodischarging: return "auto discharging";
case battery_mode_t::hotswap: return "hot-swap";
default: return "unknown";
}
}
void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
{
if (circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY)) {
@ -133,34 +117,18 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
_battery_connected_at_arming[index] = battery.connected;
}
if (context.isArmed()) {
if (context.isArmed() && !battery.connected && _battery_connected_at_arming[index]) { // If disconnected after arming
/* EVENT
*/
reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::battery, events::ID("check_battery_disconnected"),
events::Log::Emergency, "Battery {1} disconnected", index + 1);
if (!battery.connected && _battery_connected_at_arming[index]) { // If disconnected after arming
/* EVENT
*/
reporter.healthFailure<uint8_t>(NavModes::All, health_component_t::battery, events::ID("check_battery_disconnected"),
events::Log::Emergency, "Battery {1} disconnected", index + 1);
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %i disconnected\t", index + 1);
}
// trigger a battery failsafe action if a battery disconnects in flight
worst_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %i disconnected\t", index + 1);
}
if (battery.mode != 0) {
/* EVENT
*/
reporter.healthFailure<uint8_t, events::px4::enums::battery_mode_t>(NavModes::All, health_component_t::battery,
events::ID("check_battery_mode"),
events::Log::Critical, "Battery {1} mode: {2}", index + 1, static_cast<battery_mode_t>(battery.mode));
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Battery %d is in %s mode!\t", index + 1,
battery_mode_str(static_cast<battery_mode_t>(battery.mode)));
}
}
// trigger a battery failsafe action if a battery disconnects in flight
worst_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
}
if (battery.connected) {

15
src/modules/mavlink/streams/BATTERY_STATUS.hpp
View File

@ -114,20 +114,7 @@ private:
break;
}
switch (battery_status.mode) {
case (battery_status_s::BATTERY_MODE_AUTO_DISCHARGING):
bat_msg.mode = MAV_BATTERY_MODE_AUTO_DISCHARGING;
break;
case (battery_status_s::BATTERY_MODE_HOT_SWAP):
bat_msg.mode = MAV_BATTERY_MODE_HOT_SWAP;
break;
default:
bat_msg.mode = MAV_BATTERY_MODE_UNKNOWN;
break;
}
bat_msg.mode = MAV_BATTERY_MODE_UNKNOWN;
bat_msg.fault_bitmask = battery_status.faults;
// check if temperature valid