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GCS_Common: create virtual get_battery_remaining_percentage()

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This commit is contained in:
Willian Galvani 2020-03-05 14:36:23 -03:00 committed by Jacob Walser
parent 799ac6f741
commit 7855d324b3
2 changed files with 7 additions and 1 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -431,6 +431,7 @@ protected:
virtual float vfr_hud_airspeed() const;
virtual int16_t vfr_hud_throttle() const { return 0; }
virtual float vfr_hud_alt() const;
virtual uint8_t get_battery_remaining_percentage();
static constexpr const float magic_force_arm_value = 2989.0f;
static constexpr const float magic_force_disarm_value = 21196.0f;

7
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3931,7 +3931,7 @@ void GCS_MAVLINK::send_sys_status()
int8_t battery_remaining;
if (battery.healthy() && battery.current_amps(battery_current)) {
battery_remaining = battery.capacity_remaining_pct();
battery_remaining = get_battery_remaining_percentage();
battery_current *= 100;
} else {
battery_current = -1;
@ -4661,6 +4661,11 @@ void GCS_MAVLINK::manual_override(RC_Channel *c, int16_t value_in, const uint16_
c->set_override(override_value, tnow);
}
uint8_t GCS_MAVLINK::get_battery_remaining_percentage() {
const AP_BattMonitor &battery = AP::battery();
return battery.capacity_remaining_pct();
}
GCS &gcs()
{
return *GCS::get_singleton();