ardupilot/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h

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#pragma once
#include <AP_UAVCAN/AP_UAVCAN.h>
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_Backend.h"
#define AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
{
public:
enum BattMonitor_UAVCAN_Type {
UAVCAN_BATTERY_INFO = 0
};
/// Constructor
AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params &params);
/// Read the battery voltage and current. Should be called at 10hz
void read() override;
void init() override;
bool has_current() const override {
return true;
}
void handle_bi_msg(float voltage, float current, float temperature) override;
protected:
BattMonitor_UAVCAN_Type _type;
};