mirror of https://github.com/ArduPilot/ardupilot
34 lines
890 B
C++
34 lines
890 B
C++
#pragma once
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#include "AP_BattMonitor.h"
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#include "AP_BattMonitor_Backend.h"
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#define AP_BATTMONITOR_UAVCAN_TIMEOUT_MICROS 5000000 // sensor becomes unhealthy if no successful readings for 5 seconds
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class AP_BattMonitor_UAVCAN : public AP_BattMonitor_Backend
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{
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public:
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enum BattMonitor_UAVCAN_Type {
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UAVCAN_BATTERY_INFO = 0
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};
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/// Constructor
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AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params ¶ms);
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/// Read the battery voltage and current. Should be called at 10hz
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void read() override;
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void init() override;
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bool has_current() const override {
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return true;
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}
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void handle_bi_msg(float voltage, float current, float temperature) override;
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protected:
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BattMonitor_UAVCAN_Type _type;
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};
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