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GCS_MAVLink: Support sending the BATTERY_STATUS message

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Michael du Breuil 2017-04-07 13:13:35 -07:00 committed by Randy Mackay
parent 597dbb2df4
commit 1e816b8be5
2 changed files with 29 additions and 0 deletions
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3
libraries/GCS_MAVLink/GCS.h
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@ -70,6 +70,7 @@ enum ap_message {
MSG_MISSION_ITEM_REACHED, MSG_MISSION_ITEM_REACHED,
MSG_POSITION_TARGET_GLOBAL_INT, MSG_POSITION_TARGET_GLOBAL_INT,
MSG_ADSB_VEHICLE, MSG_ADSB_VEHICLE,
MSG_BATTERY_STATUS,
MSG_RETRY_DEFERRED // this must be last MSG_RETRY_DEFERRED // this must be last
}; };
@ -137,6 +138,8 @@ public:
// common send functions // common send functions
void send_meminfo(void); void send_meminfo(void);
void send_power_status(void); void send_power_status(void);
void send_battery_status(const AP_BattMonitor &battery, const uint8_t instance) const;
bool send_battery_status(const AP_BattMonitor &battery) const;
void send_ahrs2(AP_AHRS &ahrs); void send_ahrs2(AP_AHRS &ahrs);
bool send_gps_raw(AP_GPS &gps); bool send_gps_raw(AP_GPS &gps);
void send_system_time(AP_GPS &gps); void send_system_time(AP_GPS &gps);

26
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -234,6 +234,32 @@ void GCS_MAVLINK::send_power_status(void)
hal.analogin->power_status_flags()); hal.analogin->power_status_flags());
} }
void GCS_MAVLINK::send_battery_status(const AP_BattMonitor &battery, const uint8_t instance) const
{
uint16_t voltages[MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN];
memset(&voltages, 0xff, sizeof(uint16_t)*MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN); // fill with UINT16_MAX for unknown cells
mavlink_msg_battery_status_send(chan,
instance, // id
MAV_BATTERY_FUNCTION_UNKNOWN, // function
MAV_BATTERY_TYPE_UNKNOWN, // type
INT16_MAX, // temperature. INT16_MAX if unknown
voltages,
battery.has_current(instance) ? battery.current_amps(instance) * 100 : -1, // current
battery.has_current(instance) ? battery.current_total_mah(instance) : -1, // total current
-1, // joules used
battery.capacity_remaining_pct(instance));
}
// returns true if all battery instances were reported
bool GCS_MAVLINK::send_battery_status(const AP_BattMonitor &battery) const
{
for(uint8_t i = 0; i < battery.num_instances(); i++) {
CHECK_PAYLOAD_SIZE(BATTERY_STATUS);
send_battery_status(battery, i);
}
return true;
}
// report AHRS2 state // report AHRS2 state
void GCS_MAVLINK::send_ahrs2(AP_AHRS &ahrs) void GCS_MAVLINK::send_ahrs2(AP_AHRS &ahrs)
{ {