fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 14:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

extend support for Battery status message

Browse Source 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2022-01-13 08:40:34 +01:00
committed by Beat Küng
parent bb1177d504
commit d122513197
8 changed files with 363 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/events/enums.json
+132
View File
@@ -244,6 +244,138 @@
"description": "[Unknown]"
}
}
},
"battery_fault_reason_t": {
"type": "uint8_t",
"description": "Reason for battery fault",
"entries": {
"0": {
"name": "deep_discharge",
"description": "Battery has deep discharged"
},
"1": {
"name": "voltage_spikes",
"description": "Battery detected voltage spikes"
},
"2": {
"name": "cell_fail",
"description": "One or more battery cells have failed"
},
"3": {
"name": "over_current",
"description": "Battery reported over-current"
},
"4": {
"name": "fault_temperature",
"description": "Battery has reached a critical temperature which can result in a critical failure"
},
"5": {
"name": "under_temperature",
"description": "Battery temperature is below operating range"
},
"6": {
"name": "incompatible_voltage",
"description": "Vehicle voltage is not compatible with battery one"
},
"7": {
"name": "incompatible_firmware",
"description": "Battery firmware is not compatible with current autopilot firmware"
},
"8": {
"name": "incompatible_model",
"description": "Battery model is not supported by the system"
},
"9": {
"name": "hardware_fault",
"description": "Battery reported an hardware problem"
},
"10": {
"name": "over_temperature",
"description": "Battery is over-heating"
}
}
},
"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",
"entries": {
"0": {
"name": "over_current",
"description": "detected over current"
},
"1": {
"name": "over_voltage",
"description": "detected over voltage"
},
"2": {
"name": "motor_over_temp",
"description": "Motor has reached a critical temperature"
},
"3": {
"name": "over_rpm",
"description": "Motor RPM is exceeding the limits"
},
"4": {
"name": "inconsistent_cmd",
"description": "received an invalid control command"
},
"5": {
"name": "motor_stuck",
"description": "Motor stalled"
},
"6": {
"name": "failure_generic",
"description": "detected a generic hardware failure"
},
"7": {
"name": "motor_warn_temp",
"description": "Motor is over-heating"
},
"8": {
"name": "esc_warn_temp",
"description": "is over-heating"
},
"9": {
"name": "esc_over_temp",
"description": "reached a critical temperature"
}
}
},
"suggested_action_t": {
"type": "uint8_t",
"description": "Suggested actions for the user in case of a safety critical event is triggered",
"entries": {
"0": {
"name": "none",
"description": ""
},
"1": {
"name": "land",
"description": "Land now!"
},
"2": {
"name": "reduce_throttle",
"description": "Reduce throttle!"
}
}
}
}
}
src/lib/mathlib/math/Functions.hpp
+18
View File
@@ -237,6 +237,24 @@ constexpr int16_t negate<int16_t>(int16_t value)
return -value;
}
/*
* This function calculates the Hamming weight, i.e. counts the number of bits that are set
* in a given integer.
*/
template<typename T>
int countSetBits(T n)
{
int count = 0;
while (n) {
count += n & 1;
n >>= 1;
}
return count;
}
inline bool isFinite(const float &value)
{
return PX4_ISFINITE(value);
src/lib/mathlib/math/FunctionsTest.cpp
+9
View File
@@ -212,3 +212,12 @@ TEST(FunctionsTest, lerp)
EXPECT_FLOAT_EQ(lerp(.2f, .3f, -.1f), .19f);
EXPECT_FLOAT_EQ(lerp(-.4f, .3f, 1.1f), .37f);
}
TEST(FunctionsTest, countSetBits)
{
EXPECT_EQ(countSetBits(255), 8);
EXPECT_EQ(countSetBits(65535), 16);
EXPECT_EQ(countSetBits(0), 0);
EXPECT_EQ(countSetBits(0xffffffffu), 32);
EXPECT_EQ(countSetBits(754323), 9);
}