mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-03 14:38:44 -04:00
GCS_MAVLink: remove use of AP_BattMonitor if AP_Periph and Battery disabled
This commit is contained in:
bugobliterator
Peter Barker
parent
418ac60373
commit
85284d1bc0
@ -76,7 +76,9 @@
|
||||
#include <AP_UAVCAN/AP_UAVCAN.h>
|
||||
#endif
|
||||
|
||||
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
|
||||
#include <AP_BattMonitor/AP_BattMonitor.h>
|
||||
#endif
|
||||
#include <AP_GPS/AP_GPS.h>
|
||||
|
||||
#include <ctype.h>
|
||||
@ -216,12 +218,17 @@ void GCS_MAVLINK::send_mcu_status(void)
|
||||
|
||||
// returns the battery remaining percentage if valid, -1 otherwise
|
||||
int8_t GCS_MAVLINK::battery_remaining_pct(const uint8_t instance) const {
|
||||
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
|
||||
uint8_t percentage;
|
||||
return AP::battery().capacity_remaining_pct(percentage, instance) ? MIN(percentage, INT8_MAX) : -1;
|
||||
#else
|
||||
return -1;
|
||||
#endif
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
|
||||
{
|
||||
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
|
||||
// catch the battery backend not supporting the required number of cells
|
||||
static_assert(sizeof(AP_BattMonitor::cells) >= (sizeof(uint16_t) * MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN),
|
||||
"Not enough battery cells for the MAVLink message");
|
||||
@ -300,11 +307,15 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
|
||||
cell_volts_ext, // Cell 11..14 voltages
|
||||
0, // battery mode
|
||||
0); // fault_bitmask
|
||||
#else
|
||||
(void)instance;
|
||||
#endif
|
||||
}
|
||||
|
||||
// returns true if all battery instances were reported
|
||||
bool GCS_MAVLINK::send_battery_status()
|
||||
{
|
||||
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
|
||||
const AP_BattMonitor &battery = AP::battery();
|
||||
|
||||
for(uint8_t i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) {
|
||||
@ -319,6 +330,9 @@ bool GCS_MAVLINK::send_battery_status()
|
||||
}
|
||||
}
|
||||
return true;
|
||||
#else
|
||||
return false;
|
||||
#endif
|
||||
}
|
||||
|
||||
void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const
|
||||
@ -2216,6 +2230,7 @@ void GCS::setup_uarts()
|
||||
// report battery2 state
|
||||
void GCS_MAVLINK::send_battery2()
|
||||
{
|
||||
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
|
||||
const AP_BattMonitor &battery = AP::battery();
|
||||
|
||||
if (battery.num_instances() > 1) {
|
||||
@ -2227,6 +2242,7 @@ void GCS_MAVLINK::send_battery2()
|
||||
}
|
||||
mavlink_msg_battery2_send(chan, battery.voltage(1)*1000, current);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/*
|
||||
@ -3988,11 +4004,13 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_comm
|
||||
|
||||
MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_long_t &packet)
|
||||
{
|
||||
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
|
||||
const uint16_t battery_mask = packet.param1;
|
||||
const float percentage = packet.param2;
|
||||
if (AP::battery().reset_remaining_mask(battery_mask, percentage)) {
|
||||
return MAV_RESULT_ACCEPTED;
|
||||
}
|
||||
#endif
|
||||
return MAV_RESULT_FAILED;
|
||||
}
|
||||
|
||||
@ -4710,7 +4728,7 @@ void GCS_MAVLINK::send_sys_status()
|
||||
if (!gcs().vehicle_initialised()) {
|
||||
return;
|
||||
}
|
||||
|
||||
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
|
||||
const AP_BattMonitor &battery = AP::battery();
|
||||
float battery_current;
|
||||
const int8_t battery_remaining = battery_remaining_pct(AP_BATT_PRIMARY_INSTANCE);
|
||||
@ -4720,6 +4738,7 @@ void GCS_MAVLINK::send_sys_status()
|
||||
} else {
|
||||
battery_current = -1;
|
||||
}
|
||||
#endif
|
||||
|
||||
uint32_t control_sensors_present;
|
||||
uint32_t control_sensors_enabled;
|
||||
@ -4738,9 +4757,15 @@ void GCS_MAVLINK::send_sys_status()
|
||||
control_sensors_enabled,
|
||||
control_sensors_health,
|
||||
static_cast<uint16_t>(AP::scheduler().load_average() * 1000),
|
||||
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
|
||||
battery.voltage() * 1000, // mV
|
||||
battery_current, // in 10mA units
|
||||
battery_remaining, // in %
|
||||
#else
|
||||
0,
|
||||
-1,
|
||||
-1,
|
||||
#endif
|
||||
0, // comm drops %,
|
||||
0, // comm drops in pkts,
|
||||
errors1,
|
||||
@ -5821,14 +5846,9 @@ void GCS_MAVLINK::send_high_latency2() const
|
||||
AP_AHRS &ahrs = AP::ahrs();
|
||||
Location global_position_current;
|
||||
UNUSED_RESULT(ahrs.get_position(global_position_current));
|
||||
|
||||
const AP_BattMonitor &battery = AP::battery();
|
||||
float battery_current = -1;
|
||||
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
|
||||
const int8_t battery_remaining = battery_remaining_pct(AP_BATT_PRIMARY_INSTANCE);
|
||||
|
||||
if (battery.healthy() && battery.current_amps(battery_current)) {
|
||||
battery_current = constrain_float(battery_current * 100,-INT16_MAX,INT16_MAX);
|
||||
}
|
||||
#endif
|
||||
|
||||
AP_Mission *mission = AP::mission();
|
||||
uint16_t current_waypoint = 0;
|
||||
@ -5889,7 +5909,11 @@ void GCS_MAVLINK::send_high_latency2() const
|
||||
0, // [dm] Maximum error vertical position since last message
|
||||
high_latency_air_temperature(), // [degC] Air temperature from airspeed sensor
|
||||
0, // [dm/s] Maximum climb rate magnitude since last message
|
||||
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY)
|
||||
battery_remaining, // [%] Battery level (-1 if field not provided).
|
||||
#else
|
||||
-1,
|
||||
#endif
|
||||
current_waypoint, // Current waypoint number
|
||||
failure_flags, // Bitmap of failure flags.
|
||||
base_mode(), // Field for custom payload. base mode (arming status) in ArduPilot's case
|
||||
|
||||
Loading…
Reference in New Issue
Block a user