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synced 2026-05-19 07:09:06 +08:00
f650b91718
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.
41 lines
2.4 KiB
Plaintext
41 lines
2.4 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 voltage_v # Battery voltage in volts, 0 if unknown
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float32 voltage_filtered_v # Battery voltage in volts, filtered, 0 if unknown
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float32 current_a # Battery current in amperes, -1 if unknown
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float32 current_filtered_a # Battery current in amperes, filtered, 0 if unknown
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float32 average_current_a # Battery current average in amperes, -1 if unknown
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float32 discharged_mah # Discharged amount in mAh, -1 if unknown
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float32 remaining # From 1 to 0, -1 if unknown
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float32 scale # Power scaling factor, >= 1, or -1 if unknown
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float32 temperature # temperature of the battery. NaN if unknown
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int32 cell_count # Number of cells
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bool connected # Whether or not a battery is connected, based on a voltage threshold
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uint8 BATTERY_SOURCE_POWER_MODULE = 0
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uint8 BATTERY_SOURCE_EXTERNAL = 0
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uint8 BATTERY_SOURCE_ESCS = 0
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uint8 source # Battery source
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uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
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uint16 capacity # actual capacity of the battery
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uint16 cycle_count # number of discharge cycles the battery has experienced
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uint16 run_time_to_empty # predicted remaining battery capacity based on the present rate of discharge in min
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uint16 average_time_to_empty # predicted remaining battery capacity based on the average rate of discharge in min
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uint16 serial_number # serial number of the battery pack
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uint16 state_of_health # state of health. FullChargeCapacity/DesignCapacity.
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uint16 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
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uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
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float32[10] voltage_cell_v # Battery individual cell voltages
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float32 max_cell_voltage_delta # Max difference between individual cell voltages
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bool is_powering_off # Power off event imminent indication, false if unknown
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uint8 BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
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uint8 BATTERY_WARNING_LOW = 1 # warning of low voltage
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uint8 BATTERY_WARNING_CRITICAL = 2 # critical voltage, return / abort immediately
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uint8 BATTERY_WARNING_EMERGENCY = 3 # immediate landing required
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uint8 BATTERY_WARNING_FAILED = 4 # the battery has failed completely
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uint8 warning # current battery warning
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