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AP_BattMonitor: make healthy() check all configured monitors 

GCS reporting for SYS_STATUS should check all healthy, not just first
backend
This commit is contained in:
Andrew Tridgell 2022-06-22 19:32:31 +10:00
parent 93ee9a4ac1
commit ba10c0ae42
2 changed files with 16 additions and 1 deletions
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13
libraries/AP_BattMonitor/AP_BattMonitor.cpp
View File

@ -740,6 +740,19 @@ uint32_t AP_BattMonitor::get_mavlink_fault_bitmask(const uint8_t instance) const
return drivers[instance]->get_mavlink_fault_bitmask();
}
/*
check that all configured battery monitors are healthy
*/
bool AP_BattMonitor::healthy() const
{
for (uint8_t i=0; i< _num_instances; i++) {
if (get_type(i) != Type::NONE && !healthy(i)) {
return false;
}
}
return true;
}
namespace AP {
AP_BattMonitor &battery()

4
libraries/AP_BattMonitor/AP_BattMonitor.h
View File

@ -156,7 +156,9 @@ public:
// healthy - returns true if monitor is functioning
bool healthy(uint8_t instance) const;
bool healthy() const { return healthy(AP_BATT_PRIMARY_INSTANCE); }
// return true if all configured battery monitors are healthy
bool healthy() const;
/// voltage - returns battery voltage in volts
float voltage(uint8_t instance) const;