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# BatteryStatus (повідомлення UORB)
Battery status.
Battery status information for up to 3 battery instances.
These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
Battery instance information is also logged and streamed in MAVLink telemetry.
**TOPICS:** battery_status
## Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
| -------------------------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. |
| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) |
| current_a | `float32` | A | | Battery current (Invalid: -1) |
| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) |
| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) |
| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
| temperature | `float32` | degC | | Temperature of the battery (Invalid: NaN) |
| cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
| capacity | `uint16` | mAh | | Capacity of the battery when fully charged |
| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced |
| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge |
| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity |
| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation |
| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed |
| interface_error | `uint16` | | | Interface error counter |
| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) |
| max_cell_voltage_delta | `float32` | V | | Max difference between individual cell voltages |
| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown |
| is_required | `bool` | | | Set if the battery is explicitly required before arming |
| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning |
| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining |
| over_discharge_count | `uint16` | | | Number of battery overdischarge |
| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack |
| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate |
| voltage_prediction | `float32` | V | | Predicted voltage |
| prediction_error | `float32` | V | | Prediction error |
| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix |
## Enums
### SOURCE {#SOURCE}
| Назва | Тип | Значення | Опис |
| ----------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- |
| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
| Назва | Тип | Значення | Опис |
| ---------------------------------------------------------------------- | ------- | -------- | -------------------------------------------- |
| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
| WARNING_LOW | `uint8` | 1 | Low voltage warning |
| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
| WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
| Назва | Тип | Значення | Опис |
| ------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
| STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
| Назва | Тип | Значення | Опис |
| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- |
| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
| FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
| Назва | Тип | Значення | Опис |
| ------------------------------------------------------------------ | -------- | -------- | ---- |
| MESSAGE_VERSION | `uint32` | 1 | |
| MAX_INSTANCES | `uint8` | 3 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg)
:::details
Click here to see original file
```c
# Battery status
#
# Battery status information for up to 3 battery instances.
# These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
# Battery instance information is also logged and streamed in MAVLink telemetry.
uint32 MESSAGE_VERSION = 1
uint8 MAX_INSTANCES = 3
uint64 timestamp # [us] Time since system start
bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
float32 voltage_v # [V] [@invalid 0] Battery voltage
float32 current_a # [A] [@invalid -1] Battery current
float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
float32 temperature # [degC] [@invalid NaN] Temperature of the battery
uint8 cell_count # [-] [@invalid 0] Number of cells
uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
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
uint16 capacity # [mAh] Capacity of the battery when fully charged
uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
uint16 interface_error # [-] Interface error counter
float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
bool is_powering_off # Power off event imminent indication, false if unknown
bool is_required # Set if the battery is explicitly required before arming
uint8 warning # [@enum WARNING STATE] Current battery warning
uint8 WARNING_NONE = 0 # No battery low voltage warning active
uint8 WARNING_LOW = 1 # Low voltage warning
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
uint8 WARNING_EMERGENCY = 3 # Immediate landing required
uint8 WARNING_FAILED = 4 # Battery has failed completely
uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
uint8 STATE_CHARGING = 7 # Battery is charging
uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
uint8 FAULT_SPIKES = 1 # Voltage spikes
uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
uint8 FAULT_OVER_CURRENT = 3 # Over-current
uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
uint16 over_discharge_count # [-] Number of battery overdischarge
float32 nominal_voltage # [V] Nominal voltage of the battery pack
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
float32 ocv_estimate # [V] Open circuit voltage estimate
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
float32 voltage_prediction # [V] Predicted voltage
float32 prediction_error # [V] Prediction error
float32 estimation_covariance_norm # [-] Norm of the covariance matrix
```
:::