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84 lines
4.7 KiB
Markdown
84 lines
4.7 KiB
Markdown
# BatteryStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg)
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```c
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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bool connected # Whether or not a battery is connected, based on a voltage threshold
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float32 voltage_v # Battery voltage in volts, 0 if unknown
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float32 current_a # Battery current in amperes, -1 if unknown
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float32 current_average_a # Battery current average in amperes (for FW average in level flight), -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 time_remaining_s # predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
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float32 temperature # Temperature of the battery in degrees Celcius, NaN if unknown
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uint8 cell_count # Number of cells, 0 if unknown
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uint8 SOURCE_POWER_MODULE = 0
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uint8 SOURCE_EXTERNAL = 1
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uint8 SOURCE_ESCS = 2
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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 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 manufacture_date # manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
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uint16 state_of_health # state of health. FullChargeCapacity/DesignCapacity, 0-100%.
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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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uint16 interface_error # interface error counter
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float32[14] voltage_cell_v # Battery individual cell voltages, 0 if unknown
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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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bool is_required # Set if the battery is explicitly required before arming
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uint8 WARNING_NONE = 0 # no battery low voltage warning active
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uint8 WARNING_LOW = 1 # warning of low voltage
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uint8 WARNING_CRITICAL = 2 # critical voltage, return / abort immediately
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uint8 WARNING_EMERGENCY = 3 # immediate landing required
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uint8 WARNING_FAILED = 4 # the battery has failed completely
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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.
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uint8 STATE_CHARGING = 7 # Battery is charging
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uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
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uint8 FAULT_SPIKES = 1 # Voltage spikes
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uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
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uint8 FAULT_OVER_CURRENT = 3 # Over-current
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uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
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uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
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uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
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uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
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uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
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uint8 FAULT_HARDWARE_FAILURE = 9 # hardware problem
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uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
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uint8 FAULT_COUNT = 11 # Counter - keep it as last element!
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uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication.
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uint8 warning # Current battery warning
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uint8 MAX_INSTANCES = 4
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float32 full_charge_capacity_wh # The compensated battery capacity
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float32 remaining_capacity_wh # The compensated battery capacity remaining
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uint16 over_discharge_count # Number of battery overdischarge
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float32 nominal_voltage # Nominal voltage of the battery pack
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float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
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float32 ocv_estimate # [V] Open circuit voltage estimate
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float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
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float32 volt_based_soc_estimate # [0, 1] Normalized volt based state of charge estimate
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float32 voltage_prediction # [V] Predicted voltage
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float32 prediction_error # [V] Prediction error
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float32 estimation_covariance_norm # Norm of the covariance matrix
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```
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