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HITL/SIH: Battery status depend on battery configuration from parameters (#24103)

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* HITL/SIH: Battery status depend on battery configuration from parameters

* fix format
This commit is contained in:
Nicolas MARTIN 2025-07-23 10:25:37 +02:00 committed by GitHub
parent 9cd6840695
commit f0dcd06f5e
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2 changed files with 30 additions and 20 deletions
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31
src/modules/mavlink/mavlink_receiver.cpp
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@ -2385,19 +2385,32 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
} }
// battery status // battery status
publish_hil_battery();
}
void
MavlinkReceiver::publish_hil_battery()
{ {
battery_status_s hil_battery_status{}; battery_status_s hil_battery_status{};
hil_battery_status.timestamp = timestamp; hil_battery_status.timestamp = hrt_absolute_time();
hil_battery_status.voltage_v = 16.0f;
hil_battery_status.cell_count = _param_bat_cells_count.get();
hil_battery_status.remaining = 0.70f;
float cells_v = _param_bat_v_empty.get() * (1.f - hil_battery_status.remaining)
+ hil_battery_status.remaining * _param_bat_v_charged.get();
hil_battery_status.voltage_v = hil_battery_status.cell_count * cells_v;
hil_battery_status.current_a = 10.0f; hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f; hil_battery_status.discharged_mah = -1.0f;
hil_battery_status.connected = true; hil_battery_status.connected = true;
hil_battery_status.remaining = 0.70;
hil_battery_status.time_remaining_s = NAN; hil_battery_status.time_remaining_s = NAN;
_battery_pub.publish(hil_battery_status); for (auto cell_count = 0; cell_count < hil_battery_status.cell_count; cell_count++) {
hil_battery_status.voltage_cell_v[cell_count] = cells_v;
} }
_battery_pub.publish(hil_battery_status);
} }
void void
@ -2720,15 +2733,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
} }
/* battery status */ /* battery status */
{ publish_hil_battery();
battery_status_s hil_battery_status{};
hil_battery_status.voltage_v = 11.1f;
hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f;
hil_battery_status.timestamp = hrt_absolute_time();
hil_battery_status.time_remaining_s = NAN;
_battery_pub.publish(hil_battery_status);
}
} }
#if !defined(CONSTRAINED_FLASH) #if !defined(CONSTRAINED_FLASH)

7
src/modules/mavlink/mavlink_receiver.h
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@ -240,6 +240,8 @@ private:
void update_message_statistics(const mavlink_message_t &message); void update_message_statistics(const mavlink_message_t &message);
void update_rx_stats(const mavlink_message_t &message); void update_rx_stats(const mavlink_message_t &message);
void publish_hil_battery();
px4::atomic_bool _should_exit{false}; px4::atomic_bool _should_exit{false};
pthread_t _thread {}; pthread_t _thread {};
/** /**
@ -403,7 +405,10 @@ private:
DEFINE_PARAMETERS( DEFINE_PARAMETERS(
(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr, (ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr, (ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr,
(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr (ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
(ParamInt<px4::params::BAT1_N_CELLS>) _param_bat_cells_count,
(ParamFloat<px4::params::BAT1_V_CHARGED>) _param_bat_v_charged,
(ParamFloat<px4::params::BAT1_V_EMPTY>) _param_bat_v_empty
); );
// Disallow copy construction and move assignment. // Disallow copy construction and move assignment.