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BAT: Consolidate the highest feasible number of batteries into just 3

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Claudio Chies
2025-09-22 15:02:24 +02:00
committed by Silvan Fuhrer
parent f90d6c03fc
commit d3acee315a
6 changed files with 7 additions and 13 deletions
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src/drivers/uavcan/sensors/battery.hpp
+3 -5
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@@ -105,7 +105,7 @@ private:
hrt_abstime _last_timestamp;
// Separate battery info publication because UavcanSensorBridgeBase only supports publishing one topic
uORB::PublicationMulti<battery_info_s> _battery_info_pub[battery_status_s::MAX_INSTANCES] {ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info)};
uORB::PublicationMulti<battery_info_s> _battery_info_pub[battery_status_s::MAX_INSTANCES] {ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info)};
battery_info_s _battery_info[battery_status_s::MAX_INSTANCES] {};
battery_status_s _battery_status[battery_status_s::MAX_INSTANCES] {};
@@ -115,15 +115,13 @@ private:
static constexpr int BATTERY_INDEX_1 = 1;
static constexpr int BATTERY_INDEX_2 = 2;
static constexpr int BATTERY_INDEX_3 = 3;
static constexpr int BATTERY_INDEX_4 = 4;
static constexpr int SAMPLE_INTERVAL_US = 500_ms; // Typical message rate for a CAN battery monitor should be 2-5Hz.
static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_4, "Battery array too big");
static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_3, "Battery array too big");
Battery battery1 = {BATTERY_INDEX_1, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
Battery battery2 = {BATTERY_INDEX_2, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
Battery battery3 = {BATTERY_INDEX_3, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
Battery battery4 = {BATTERY_INDEX_4, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
Battery *_battery[battery_status_s::MAX_INSTANCES] = { &battery1, &battery2, &battery3, &battery4 };
Battery *_battery[battery_status_s::MAX_INSTANCES] = { &battery1, &battery2, &battery3};
};