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extend support for Battery status message

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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
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src/modules/mavlink/streams/BATTERY_STATUS.hpp
+24
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@@ -101,11 +101,35 @@ private:
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_FAILED;
break;
case (battery_status_s::BATTERY_STATE_UNHEALTHY):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_UNHEALTHY;
break;
case (battery_status_s::BATTERY_STATE_CHARGING):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_CHARGING;
break;
default:
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_UNDEFINED;
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.fault_bitmask = battery_status.faults;
// check if temperature valid
if (battery_status.connected && PX4_ISFINITE(battery_status.temperature)) {
bat_msg.temperature = battery_status.temperature * 100.f;