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AP_Scripting: Check for battery in MAVLinkHL and Rockblock

This commit is contained in:
Stephen Dade 2023-04-24 09:48:01 +10:00 committed by Peter Barker
parent 95437d248f
commit e01b359462
2 changed files with 14 additions and 4 deletions
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11
libraries/AP_Scripting/applets/RockBlock.lua
View File

@ -777,7 +777,12 @@ function HLSatcom()
ahrs:groundspeed_vector():length() * 5))
hl2.temperature_air = math.floor(baro:get_external_temperature())
hl2.battery = battery:capacity_remaining_pct(0)
if battery:num_instances() > 0 then
hl2.battery = battery:capacity_remaining_pct(0)
else
hl2.battery = 0
end
-- just sending armed state here for simplicity. Flight mode is in the custom_mode field
if arming:is_armed() then
@ -802,7 +807,7 @@ end
function protected_wrapper()
local success, err = pcall(HLSatcom)
if not success then
gcs:send_text(MAV_SEVERITY_ERROR, "Internal Error: " .. err)
gcs:send_text(3, "Internal Error: " .. err)
-- when we fault we run the HLSatcom function again after 1s, slowing it
-- down a bit so we don't flood the console with errors
return protected_wrapper, 1000
@ -811,4 +816,4 @@ function protected_wrapper()
end
-- start running HLSatcom loop
return protected_wrapper()
return protected_wrapper()

7
libraries/AP_Scripting/examples/MAVLinkHL.lua
View File

@ -433,8 +433,13 @@ function HLSatcom()
ahrs:groundspeed_vector():length() * 5))
hl2.temperature_air = math.floor(baro:get_external_temperature())
hl2.battery = battery:capacity_remaining_pct(0)
if battery:num_instances() > 0 then
hl2.battery = battery:capacity_remaining_pct(0)
else
hl2.battery = 0
end
-- just sending armed state here for simplicity. Flight mode is in the custom_mode field
if arming:is_armed() then
hl2.custom0 = 129 -- MAV_MODE_FLAG_SAFETY_ARMED + MAV_MODE_FLAG_CUSTOM_MODE_ENABLED