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Add BATTERY_STATUS_V2 streaming

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Hamish Willee
2022-05-22 22:21:04 +10:00
parent 5ca0862bbb
commit e7fa130b06
4 changed files with 140 additions and 0 deletions
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msg/battery_status.msg
+23
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@@ -76,3 +76,26 @@ float32 design_capacity # The design capacity of the battery
uint16 average_time_to_full # The predicted remaining time until the battery reaches full charge, in minutes
uint16 over_discharge_count # Number of battery overdischarge
float32 nominal_voltage # Nominal voltage of the battery pack
uint32 status_flags # Battery status flags
# Battery status flags (combined faults and modes)
uint32 STATUS_FLAG_READY = 1 # The battery is ready to use (fly).
uint32 STATUS_FLAG_CHARGING = 2 # Battery is charging.
uint32 STATUS_FLAG_CELL_BALANCING = 4 # Battery is cell balancing (during charging).
uint32 STATUS_FLAG_FAULT_CELL_IMBALANCE = 8 # Battery cells are not balanced.
uint32 STATUS_FLAG_AUTO_DISCHARGING = 16 # Battery is auto discharging (towards storage level).
uint32 STATUS_FLAG_REQUIRES_SERVICE = 32 # Battery requires service (not safe to fly).
uint32 STATUS_FLAG_BAD_BATTERY = 64 # Battery is faulty and cannot be repaired (not safe to fly).
uint32 STATUS_FLAG_PROTECTIONS_ENABLED = 128 # Automatic battery protection monitoring is enabled.
uint32 STATUS_FLAG_FAULT_PROTECTION_SYSTEM = 256 # The battery fault protection system had detected a fault and cut all power from the battery.
uint32 STATUS_FLAG_FAULT_OVER_VOLT = 512 # One or more cells are above their maximum voltage rating.
uint32 STATUS_FLAG_FAULT_UNDER_VOLT = 1024 # One or more cells are below their minimum voltage rating.
uint32 STATUS_FLAG_FAULT_OVER_TEMPERATURE = 2048 # Over-temperature fault.
uint32 STATUS_FLAG_FAULT_UNDER_TEMPERATURE = 4096 # Under-temperature fault.
uint32 STATUS_FLAG_FAULT_OVER_CURRENT = 8192 # Over-current fault.
uint32 STATUS_FLAG_FAULT_SHORT_CIRCUIT = 16384 # Short circuit event detected.
uint32 STATUS_FLAG_FAULT_INCOMPATIBLE_VOLTAGE = 32768 # Voltage not compatible with power rail voltage.
uint32 STATUS_FLAG_FAULT_INCOMPATIBLE_FIRMWARE = 65536 # Battery firmware is not compatible with current autopilot firmware.
uint32 STATUS_FLAG_FAULT_INCOMPATIBLE_CELLS_CONFIGURATION = 131072 # Battery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).