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GCS_MAVLink: create and use AP_BATTERY_ENABLED

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simply as a way to get HAL_PERIPH_ENABLE_BATTERY out of the main code
This commit is contained in:
Peter Barker 2023-06-20 16:08:15 +10:00 committed by Peter Barker
parent 5df6b835b0
commit 07bf38d7f8
2 changed files with 12 additions and 11 deletions
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2
libraries/GCS_MAVLink/GCS.cpp
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@ -195,7 +195,7 @@ void GCS::update_sensor_status_flags()
}
#endif
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#if AP_BATTERY_ENABLED
const AP_BattMonitor &battery = AP::battery();
control_sensors_present |= MAV_SYS_STATUS_SENSOR_BATTERY;
if (battery.num_instances() > 0) {

21
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -82,7 +82,8 @@
#include <AP_DroneCAN/AP_DroneCAN.h>
#endif
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#include <AP_BattMonitor/AP_BattMonitor_config.h>
#if AP_BATTERY_ENABLED
#include <AP_BattMonitor/AP_BattMonitor.h>
#endif
#include <AP_GPS/AP_GPS.h>
@ -221,7 +222,7 @@ void GCS_MAVLINK::send_mcu_status(void)
// returns the battery remaining percentage if valid, -1 otherwise
int8_t GCS_MAVLINK::battery_remaining_pct(const uint8_t instance) const {
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#if AP_BATTERY_ENABLED
uint8_t percentage;
return AP::battery().capacity_remaining_pct(percentage, instance) ? MIN(percentage, INT8_MAX) : -1;
#else
@ -231,7 +232,7 @@ int8_t GCS_MAVLINK::battery_remaining_pct(const uint8_t instance) const {
void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
{
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#if AP_BATTERY_ENABLED
// catch the battery backend not supporting the required number of cells
static_assert(sizeof(AP_BattMonitor::cells) >= (sizeof(uint16_t) * MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN),
"Not enough battery cells for the MAVLink message");
@ -357,7 +358,7 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
// returns true if all battery instances were reported
bool GCS_MAVLINK::send_battery_status()
{
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#if AP_BATTERY_ENABLED
const AP_BattMonitor &battery = AP::battery();
for(uint8_t i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) {
@ -2493,7 +2494,7 @@ void GCS::setup_uarts()
// report battery2 state
void GCS_MAVLINK::send_battery2()
{
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#if AP_BATTERY_ENABLED
const AP_BattMonitor &battery = AP::battery();
if (battery.num_instances() > 1) {
@ -4385,7 +4386,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_comm
MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_long_t &packet)
{
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#if AP_BATTERY_ENABLED
const uint16_t battery_mask = packet.param1;
const float percentage = packet.param2;
if (AP::battery().reset_remaining_mask(battery_mask, percentage)) {
@ -5273,7 +5274,7 @@ void GCS_MAVLINK::send_sys_status()
if (!gcs().vehicle_initialised()) {
return;
}
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#if AP_BATTERY_ENABLED
const AP_BattMonitor &battery = AP::battery();
float battery_current;
const int8_t battery_remaining = battery_remaining_pct(AP_BATT_PRIMARY_INSTANCE);
@ -5302,7 +5303,7 @@ void GCS_MAVLINK::send_sys_status()
control_sensors_enabled,
control_sensors_health,
static_cast<uint16_t>(AP::scheduler().load_average() * 1000),
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#if AP_BATTERY_ENABLED
battery.gcs_voltage() * 1000, // mV
battery_current, // in 10mA units
battery_remaining, // in %
@ -6567,7 +6568,7 @@ void GCS_MAVLINK::send_high_latency2() const
AP_AHRS &ahrs = AP::ahrs();
Location global_position_current;
UNUSED_RESULT(ahrs.get_location(global_position_current));
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#if AP_BATTERY_ENABLED
const int8_t battery_remaining = battery_remaining_pct(AP_BATT_PRIMARY_INSTANCE);
#endif
@ -6630,7 +6631,7 @@ void GCS_MAVLINK::send_high_latency2() const
0, // [dm] Maximum error vertical position since last message
high_latency_air_temperature(), // [degC] Air temperature from airspeed sensor
0, // [dm/s] Maximum climb rate magnitude since last message
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
#if AP_BATTERY_ENABLED
battery_remaining, // [%] Battery level (-1 if field not provided).
#else
-1,