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battery: check source param inside battery lib

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This moves the handling of the BAT%d_SOURCE param inside of the battery
library. Users of the library now pass the source instead of the flag
whether to publish. The battery library then checks if the source is
selected using the param and publishes accordingly.

Since we removed the strange system_source flag, we now need to look at
all batteries in commander.
For current estimation - I think - it makes sense to sum them up.
This commit is contained in:
Julian Oes
2020-04-06 15:56:54 +02:00
parent 641612468b
commit f650b91718
13 changed files with 55 additions and 61 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/power_monitor/ina226/ina226.cpp
+9 -13
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -88,10 +88,9 @@ INA226::INA226(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int
0.0,
0.0,
false,
false, // TODO: selected source?
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0,
true
0.0
);
}
@@ -262,10 +261,9 @@ INA226::collect()
(float) _bus_voltage * INA226_VSCALE,
(float) _current * _current_lsb,
true,
true, // TODO: Determine if this is the selected source
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE],
true
_actuator_controls.control[actuator_controls_s::INDEX_THROTTLE]
);
ret = OK;
@@ -276,10 +274,9 @@ INA226::collect()
0.0,
0.0,
false,
false, // TODO: selected source?
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0,
true
0.0
);
ret = -1;
perf_count(_comms_errors);
@@ -352,10 +349,9 @@ INA226::RunImpl()
0.0f,
0.0f,
false,
false,
battery_status_s::BATTERY_SOURCE_POWER_MODULE,
0,
0.0f,
true
0.0f
);
if (init() != OK) {
src/drivers/power_monitor/voxlpm/voxlpm.cpp
+4 -2
View File
@@ -149,7 +149,8 @@ VOXLPM::measure()
switch (_ch_type) {
case VOXLPM_CH_TYPE_VBATT: {
_battery.updateBatteryStatus(tnow, _voltage, _amperage, true, true, 0, 0, true);
_battery.updateBatteryStatus(tnow, _voltage, _amperage, true,
battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0, 0);
}
// fallthrough
@@ -170,7 +171,8 @@ VOXLPM::measure()
} else {
switch (_ch_type) {
case VOXLPM_CH_TYPE_VBATT: {
_battery.updateBatteryStatus(tnow, 0.0, 0.0, true, true, 0, 0, true);
_battery.updateBatteryStatus(tnow, 0.0, 0.0, true,
battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0, 0);
}
break;
src/drivers/uavcan/sensors/battery.cpp
+2 -2
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -95,7 +95,7 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
// battery.average_time_to_empty = msg.;
battery.serial_number = msg.model_instance_id;
battery.connected = true;
battery.system_source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
battery.source = battery_status_s::BATTERY_SOURCE_POWER_MODULE;
// battery.priority = msg.;
// battery.is_powering_off = msg.;
// battery.warning = msg.;