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AP_Periph: Allow skipping the BatteryInfo model_name

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This saves a shocking amount of bandwidth. On a CubeOrange-periph
build sending just baro data and 2 battery info's this results in 25%
less bandwidth being used. (Also given that we still have a instance id,
and can get the CAN node's descriptor in the general case this is not
costing us any information).
This commit is contained in:
Michael du Breuil 2021-03-15 22:45:05 -07:00 committed by Peter Barker
parent d578b4d3db
commit 9abf91c86e
1 changed files with 2 additions and 0 deletions
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Tools/AP_Periph/can.cpp
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@ -1478,11 +1478,13 @@ void AP_Periph_FW::can_battery_update(void)
pkt.state_of_charge_pct = battery.lib.capacity_remaining_pct(i);
pkt.model_instance_id = i+1;
#if !defined(HAL_PERIPH_BATTERY_SKIP_NAME)
// example model_name: "org.ardupilot.ap_periph SN 123"
char text[UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MODEL_NAME_MAX_LENGTH+1] {};
hal.util->snprintf(text, sizeof(text), "%s %d", AP_PERIPH_BATTERY_MODEL_NAME, serial_number);
pkt.model_name.len = strlen(text);
pkt.model_name.data = (uint8_t *)text;
#endif //defined(HAL_PERIPH_BATTERY_SKIP_NAME)
uint8_t buffer[UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE] {};
const uint16_t total_size = uavcan_equipment_power_BatteryInfo_encode(&pkt, buffer);