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docs: battery: clarify BAT${i}_SOURCE parameter documentation (#26071)

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* docs: battery: clarify Power Module option to state that it works additionally for onboard Analog

* Update src/lib/battery/module.yaml

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

* Update src/lib/battery/module.yaml

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

* Update src/lib/battery/module.yaml

* Apply suggestions from code review

* Update msg/versioned/BatteryStatus.msg

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This commit is contained in:
Jacob Dahl 2025-12-17 09:58:41 -09:00 committed by GitHub
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commit e6c49edd20
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3 changed files with 16 additions and 11 deletions
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6
msg/px4_msgs_old/msg/BatteryStatusV0.msg
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@ -21,9 +21,9 @@ uint8 cell_count # [@invalid 0] Number of cells
uint8 source # [@enum SOURCE] Battery source uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
uint8 SOURCE_EXTERNAL = 1 # External uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
uint8 SOURCE_ESCS = 2 # ESCs uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged uint16 capacity # [mAh] Capacity of the battery when fully charged

6
msg/versioned/BatteryStatus.msg
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@ -22,9 +22,9 @@ uint8 cell_count # [-] [@invalid 0] Number of cells
uint8 source # [@enum SOURCE] Battery source uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
uint8 SOURCE_EXTERNAL = 1 # External uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
uint8 SOURCE_ESCS = 2 # ESCs uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged uint16 capacity # [mAh] Capacity of the battery when fully charged

15
src/lib/battery/module.yaml
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@ -105,15 +105,20 @@ parameters:
description: description:
short: Battery ${i} monitoring source. short: Battery ${i} monitoring source.
long: | long: |
This parameter controls the source of battery data. The value 'Power Module' This parameter controls the source of battery data. The value 'Power Module / Analog'
means that measurements are expected to come from a power module. If the value is set to means that measurements are expected to come from either analog (ADC) inputs
'External' then the system expects to receive mavlink battery status messages. or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
measurements read from the board's ADC channels, typically from an onboard
voltage divider and current shunt, or an external analog power module.
I2C power monitors are digital sensors on the I2C bus.
If the value is set to 'External' then the system expects to receive MAVLink
or CAN battery status messages, or the battery data is published by an external driver.
If the value is set to 'ESCs', the battery information are taken from the esc_status message. If the value is set to 'ESCs', the battery information are taken from the esc_status message.
This requires the ESC to provide both voltage as well as current. This requires the ESC to provide both voltage as well as current (via ESC telemetry).
type: enum type: enum
values: values:
-1: Disabled -1: Disabled
0: Power Module 0: Power Module / Analog
1: External 1: External
2: ESCs 2: ESCs
reboot_required: true reboot_required: true