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GCS_MAVLink: build fixes

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needed for new mavlink2 extensions in battery monitor message
This commit is contained in:
Andrew Tridgell 2018-06-14 09:10:40 +10:00
parent 9638f6cab9
commit 5495e98483
1 changed files with 4 additions and 2 deletions
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6
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -212,7 +212,9 @@ void GCS_MAVLINK::send_battery_status(const AP_BattMonitor &battery,
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)
battery.capacity_remaining_pct(instance));
battery.capacity_remaining_pct(instance),
0, // time remaining, seconds (not provided)
MAV_BATTERY_CHARGE_STATE_UNDEFINED);
}
// returns true if all battery instances were reported
@ -2989,7 +2991,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
#ifdef HAVE_AP_BLHELI_SUPPORT
case MSG_ESC_TELEMETRY: {
CHECK_PAYLOAD_SIZE(ESC_TELEMETRY_1_TO_4);
AP_BLHeli *blheli = AP_BLHeli::get_instance();
AP_BLHeli *blheli = AP_BLHeli::get_singleton();
if (blheli) {
blheli->send_esc_telemetry_mavlink(uint8_t(chan));
}