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GCS_MAVlink: Add battery cell backend

This commit is contained in:
Michael du Breuil 2017-04-07 20:28:14 -07:00 committed by Francisco Ferreira
parent 8f24d211ce
commit 9cb0d8f99b
1 changed files with 5 additions and 3 deletions
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8
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -236,14 +236,16 @@ void GCS_MAVLINK::send_power_status(void)
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
// 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");
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.get_cell_voltages(instance).cells, // cell 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