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AP_BattMonitor: added option allowing InfoAux to be from different node 

this allows the CAN node providing cell voltages to be a different CAN
node from the node providing the base current/voltage
This commit is contained in:
Andrew Tridgell 2023-10-25 08:31:50 +11:00
parent 7ce9febf9f
commit 532ab09c72
3 changed files with 29 additions and 2 deletions
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28
libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
View File

@ -217,7 +217,33 @@ void AP_BattMonitor_DroneCAN::handle_battery_info_trampoline(AP_DroneCAN *ap_dro
void AP_BattMonitor_DroneCAN::handle_battery_info_aux_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_power_BatteryInfoAux &msg)
{
AP_BattMonitor_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id, msg.battery_id);
const auto &batt = AP::battery();
AP_BattMonitor_DroneCAN *driver = nullptr;
/*
check for a backend with AllowSplitAuxInfo set, allowing InfoAux
from a different CAN node than the base battery information
*/
for (uint8_t i = 0; i < batt._num_instances; i++) {
const auto *drv = batt.drivers[i];
if (drv != nullptr &&
batt.get_type(i) == AP_BattMonitor::Type::UAVCAN_BatteryInfo &&
drv->option_is_set(AP_BattMonitor_Params::Options::AllowSplitAuxInfo) &&
batt.get_serial_number(i) == int32_t(msg.battery_id)) {
driver = (AP_BattMonitor_DroneCAN *)batt.drivers[i];
if (driver->_ap_dronecan == nullptr) {
/* we have not received the main battery information
yet. Discard InfoAux until we do so we can init the
backend with the right node ID
*/
return;
}
break;
}
}
if (driver == nullptr) {
driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id, msg.battery_id);
}
if (driver == nullptr) {
return;
}

2
libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
View File

@ -150,7 +150,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Battery monitor options
// @Description: This sets options to change the behaviour of the battery monitor
// @Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS
// @Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node
// @User: Advanced
AP_GROUPINFO("OPTIONS", 21, AP_BattMonitor_Params, _options, 0),
#endif // HAL_BUILD_AP_PERIPH

1
libraries/AP_BattMonitor/AP_BattMonitor_Params.h
View File

@ -25,6 +25,7 @@ public:
MPPT_Power_Off_At_Boot = (1U<<4), // MPPT Disabled at startup (aka boot), if HW supports it
MPPT_Power_On_At_Boot = (1U<<5), // MPPT Enabled at startup (aka boot), if HW supports it. If Power_Off_at_Boot is also set, the behavior is Power_Off_at_Boot
GCS_Resting_Voltage = (1U<<6), // send resistance resting voltage to GCS
AllowSplitAuxInfo = (1U<<7), // allow different node to provide aux info for DroneCAN
};
BattMonitor_LowVoltage_Source failsafe_voltage_source(void) const { return (enum BattMonitor_LowVoltage_Source)_failsafe_voltage_source.get(); }