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GCS_MAVLink: send_battery_status uses memcpy for cell voltages

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Co-authored-by: WickedShell <Wicked.Shell.Scripts@gmail.com>
This commit is contained in:
Randy Mackay 2020-06-24 08:22:01 +09:00
parent 77d6b19d86
commit 03ea646e50
1 changed files with 6 additions and 7 deletions
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11
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -203,13 +203,12 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
uint16_t cell_volts[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN];
if (battery.has_cell_voltages(instance)) {
const AP_BattMonitor::cells& batt_cells = battery.get_cell_voltages(instance);
for (uint8_t i = 0; i < ARRAY_SIZE(batt_cells.cells); i++) {
if (i < MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN) {
cell_volts[i] = batt_cells.cells[i];
} else {
// copy the first 10 cells
memcpy(cell_volts, batt_cells.cells, sizeof(cell_volts));
// 10th cell reports the lowest voltage of the last 3 cells
cell_volts[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN-1] = MIN(cell_volts[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN-1], batt_cells.cells[i]);
}
for (uint8_t i = MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN; i < ARRAY_SIZE(batt_cells.cells); i++) {
cell_volts[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN-1] = MIN(cell_volts[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN-1],
batt_cells.cells[i]);
}
} else {
// for battery monitors that cannot provide voltages for individual cells the battery's total voltage is put into the first cell