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GCS_MAVLink: Refactor battery current interface

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Michael du Breuil 2019-07-07 14:39:52 +00:00 committed by WickedShell
parent 10410b696c
commit b3c6d3d75a
1 changed files with 27 additions and 11 deletions
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38
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -300,15 +300,29 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
}
}
float current, consumed_mah, consumed_wh;
if (battery.current_amps(current, instance)) {
current *= 100;
} else {
current = -1;
}
if (!battery.consumed_mah(consumed_mah, instance)) {
consumed_mah = -1;
}
if (battery.consumed_wh(consumed_wh, instance)) {
consumed_wh *= 36;
} else {
consumed_wh = -1;
}
mavlink_msg_battery_status_send(chan,
instance, // id
MAV_BATTERY_FUNCTION_UNKNOWN, // function
MAV_BATTERY_TYPE_UNKNOWN, // type
got_temperature ? ((int16_t) (temp * 100)) : INT16_MAX, // temperature. INT16_MAX if unknown
battery.has_cell_voltages(instance) ? battery.get_cell_voltages(instance).cells : fake_cells.cells, // cell voltages
battery.has_current(instance) ? battery.current_amps(instance) * 100 : -1, // current in centiampere
battery.has_current(instance) ? battery.consumed_mah(instance) : -1, // total consumed current in milliampere.hour
battery.has_consumed_energy(instance) ? battery.consumed_wh(instance) * 36 : -1, // consumed energy in hJ (hecto-Joules)
current, // current in centiampere
consumed_mah, // total consumed current in milliampere.hour
consumed_wh, // consumed energy in hJ (hecto-Joules)
battery.capacity_remaining_pct(instance),
0, // time remaining, seconds (not provided)
MAV_BATTERY_CHARGE_STATE_UNDEFINED);
@ -2313,9 +2327,9 @@ void GCS_MAVLINK::send_battery2()
const AP_BattMonitor &battery = AP::battery();
if (battery.num_instances() > 1) {
int16_t current;
if (battery.has_current(1)) {
current = battery.current_amps(1) * 100; // 10*mA
float current;
if (battery.current_amps(current, 1)) {
current *= 100; // 10*mA
} else {
current = -1;
}
@ -4275,14 +4289,16 @@ void GCS_MAVLINK::send_sys_status()
return;
}
int16_t battery_current = -1;
int8_t battery_remaining = -1;
const AP_BattMonitor &battery = AP::battery();
float battery_current;
int8_t battery_remaining;
if (battery.has_current() && battery.healthy()) {
if (battery.healthy() && battery.current_amps(battery_current)) {
battery_remaining = battery.capacity_remaining_pct();
battery_current = battery.current_amps() * 100;
battery_current *= 100;
} else {
battery_current = -1;
battery_remaining = -1;
}
uint32_t control_sensors_present;