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AP_BattMonitor: Record and report UAVCAN Battery Info temperature correctly

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This commit is contained in:
James O'Shannessy 2021-05-25 12:07:48 +10:00 committed by Peter Barker
parent c71163680f
commit 89e4df485a
2 changed files with 12 additions and 1 deletions
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10
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
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@ -87,11 +87,16 @@ AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_u
void AP_BattMonitor_UAVCAN::handle_battery_info(const BattInfoCb &cb)
{
WITH_SEMAPHORE(_sem_battmon);
_interim_state.temperature = cb.msg->temperature;
_interim_state.voltage = cb.msg->voltage;
_interim_state.current_amps = cb.msg->current;
_soc = cb.msg->state_of_charge_pct;
if (!isnanf(cb.msg->temperature) && cb.msg->temperature > 0) {
// Temperature reported from battery in kelvin and stored internally in Celsius.
_interim_state.temperature = cb.msg->temperature - C_TO_KELVIN;
_interim_state.temperature_time = AP_HAL::millis();
}
uint32_t tnow = AP_HAL::micros();
uint32_t dt = tnow - _interim_state.last_time_micros;
@ -130,12 +135,15 @@ void AP_BattMonitor_UAVCAN::read()
// Copy over relevant states over to main state
WITH_SEMAPHORE(_sem_battmon);
_state.temperature = _interim_state.temperature;
_state.temperature_time = _interim_state.temperature_time;
_state.voltage = _interim_state.voltage;
_state.current_amps = _interim_state.current_amps;
_state.consumed_mah = _interim_state.consumed_mah;
_state.consumed_wh = _interim_state.consumed_wh;
_state.last_time_micros = _interim_state.last_time_micros;
_state.healthy = _interim_state.healthy;
_has_temperature = (AP_HAL::millis() - _state.temperature_time) <= AP_BATT_MONITOR_TIMEOUT;
}
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)

3
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.h
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@ -27,6 +27,8 @@ public:
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
uint8_t capacity_remaining_pct() const override;
bool has_temperature() const override { return _has_temperature; }
bool has_current() const override {
return true;
}
@ -51,4 +53,5 @@ private:
AP_UAVCAN* _ap_uavcan;
uint8_t _node_id;
uint8_t _soc;
bool _has_temperature;
};