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GCS_MAVLink: Added cells 11...14 voltage information (13 and 14 are 0 for now)

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Dr.-Ing. Amilcar do Carmo Lucas 2020-09-22 17:54:45 +02:00 committed by Peter Barker
parent 89f0ed2f8f
commit 1d0e7d2974
1 changed files with 14 additions and 6 deletions
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20
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -207,16 +207,20 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
float temp; float temp;
bool got_temperature = battery.get_temperature(temp, instance); bool got_temperature = battery.get_temperature(temp, instance);
// prepare array of individual cell voltage // prepare arrays of individual cell voltages
uint16_t cell_volts[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN]; uint16_t cell_volts[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN];
uint16_t cell_volts_ext[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_EXT_LEN];
if (battery.has_cell_voltages(instance)) { if (battery.has_cell_voltages(instance)) {
const AP_BattMonitor::cells& batt_cells = battery.get_cell_voltages(instance); const AP_BattMonitor::cells& batt_cells = battery.get_cell_voltages(instance);
// copy the first 10 cells // copy the first 10 cells
memcpy(cell_volts, batt_cells.cells, sizeof(cell_volts)); memcpy(cell_volts, batt_cells.cells, sizeof(cell_volts));
// 10th cell reports the lowest voltage of the last 3 cells // 11 ... 14 use a second cell_volts_ext array
for (uint8_t i = MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN; i < ARRAY_SIZE(batt_cells.cells); i++) { for (uint8_t i = 0; i < MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_EXT_LEN; i++) {
cell_volts[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN-1] = MIN(cell_volts[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN-1], if (MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN+i < uint8_t(ARRAY_SIZE(batt_cells.cells))) {
batt_cells.cells[i]); cell_volts_ext[i] = batt_cells.cells[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN+i];
} else {
cell_volts_ext[i] = 0;
}
} }
} else { } else {
// for battery monitors that cannot provide voltages for individual cells the battery's total voltage is put into the first cell // for battery monitors that cannot provide voltages for individual cells the battery's total voltage is put into the first cell
@ -232,6 +236,9 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
voltage -= 65534.0f; voltage -= 65534.0f;
} }
} }
for (uint8_t i = 0; i < MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_EXT_LEN; i++) {
cell_volts_ext[i] = 0;
}
} }
float current, consumed_mah, consumed_wh; float current, consumed_mah, consumed_wh;
@ -259,7 +266,8 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
consumed_wh, // consumed energy in hJ (hecto-Joules) consumed_wh, // consumed energy in hJ (hecto-Joules)
battery.capacity_remaining_pct(instance), battery.capacity_remaining_pct(instance),
0, // time remaining, seconds (not provided) 0, // time remaining, seconds (not provided)
MAV_BATTERY_CHARGE_STATE_UNDEFINED); MAV_BATTERY_CHARGE_STATE_UNDEFINED,
cell_volts_ext); // Cell 11..14 voltages
} }
// returns true if all battery instances were reported // returns true if all battery instances were reported