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AP_Periph: add param BATT_HIDE_MASK

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This commit is contained in:
Tom Pittenger 2023-09-07 15:07:59 -07:00 committed by Andrew Tridgell
parent 86aad6f6bf
commit 6fb94828fe
3 changed files with 20 additions and 0 deletions
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11
Tools/AP_Periph/Parameters.cpp
View File

@ -43,6 +43,10 @@ extern const AP_HAL::HAL &hal;
#define AP_PERIPH_BARO_ENABLE_DEFAULT 1
#endif
#ifndef HAL_PERIPH_BATT_HIDE_MASK_DEFAULT
#define HAL_PERIPH_BATT_HIDE_MASK_DEFAULT 0
#endif
#ifndef AP_PERIPH_EFI_PORT_DEFAULT
#define AP_PERIPH_EFI_PORT_DEFAULT 3
#endif
@ -224,6 +228,13 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @Group: BATT
// @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
GOBJECT(battery_lib, "BATT", AP_BattMonitor),
// @Param: BATT_HIDE_MASK
// @DisplayName: Battery hide mask
// @Description: Instance mask of battery index(es) to not transmit their status over CAN. This is useful for hiding a "battery" instance that is used by other libraries but don't want to be treated as a battery source to the autopilot. For example, an AP_Periph based motor controller (ESC) that is reporting as an ESC. It should not be reporting "batteries", only ESC telemetry type data which includes voltage and current.
// @Bitmask: 0:BATT, 1:BATT2, 2:BATT3, 3:BATT4, 4:BATT5, 5:BATT6, 6:BATT7, 7:BATT8, 8:BATT9, 9:BATTA, 10:BATTB, 11:BATTC, 12:BATTD, 13:BATTE, 14:BATTF, 15:BATTG
// @User: Advanced
GSCALAR(battery_hide_mask, "BATT_HIDE_MASK", HAL_PERIPH_BATT_HIDE_MASK_DEFAULT),
#endif
#ifdef HAL_PERIPH_ENABLE_MAG

5
Tools/AP_Periph/Parameters.h
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@ -82,6 +82,7 @@ public:
k_param_sitl,
k_param_ahrs,
k_param_battery_balance,
k_param_battery_hide_mask,
};
AP_Int16 format_version;
@ -183,6 +184,10 @@ public:
AP_Int16 sysid_this_mav;
#endif
#ifdef HAL_PERIPH_ENABLE_BATTERY
AP_Int32 battery_hide_mask;
#endif
#ifdef HAL_PERIPH_ENABLE_EFI
AP_Int32 efi_baudrate;
AP_Int8 efi_port;

4
Tools/AP_Periph/battery.cpp
View File

@ -27,6 +27,10 @@ void AP_Periph_FW::can_battery_update(void)
const uint8_t battery_instances = battery_lib.num_instances();
for (uint8_t i=0; i<battery_instances; i++) {
if (BIT_IS_SET(g.battery_hide_mask, i)) {
// do not transmit this battery
continue;
}
if (!battery_lib.healthy(i)) {
continue;
}