Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_BattMonitor: make healthy() check all configured monitors

Browse Source 
GCS reporting for SYS_STATUS should check all healthy, not just first
backend
This commit is contained in:
Andrew Tridgell 2022-06-22 19:32:31 +10:00 committed by Randy Mackay
parent 5332bf152a
commit 459158c51b
2 changed files with 16 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_BattMonitor/AP_BattMonitor.cpp
View File

@ -739,6 +739,19 @@ uint32_t AP_BattMonitor::get_mavlink_fault_bitmask(const uint8_t instance) const
return drivers[instance]->get_mavlink_fault_bitmask(); return drivers[instance]->get_mavlink_fault_bitmask();
} }
/*
check that all configured battery monitors are healthy
*/
bool AP_BattMonitor::healthy() const
{
for (uint8_t i=0; i< _num_instances; i++) {
if (get_type(i) != Type::NONE && !healthy(i)) {
return false;
}
}
return true;
}
namespace AP { namespace AP {
AP_BattMonitor &battery() AP_BattMonitor &battery()

4
libraries/AP_BattMonitor/AP_BattMonitor.h
View File

@ -156,7 +156,9 @@ public:
// healthy - returns true if monitor is functioning // healthy - returns true if monitor is functioning
bool healthy(uint8_t instance) const; bool healthy(uint8_t instance) const;
bool healthy() const { return healthy(AP_BATT_PRIMARY_INSTANCE); }
// return true if all configured battery monitors are healthy
bool healthy() const;
/// voltage - returns battery voltage in volts /// voltage - returns battery voltage in volts
float voltage(uint8_t instance) const; float voltage(uint8_t instance) const;