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px4-firmware/msg/battery_status.msg

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add timestamp field to uORB msgs; sync timestamp whenever possible
2018-08-06 21:30:05 -03:00
uint64 timestamp # time since system start (microseconds)
Move battery status to generated topics
2015-05-25 14:23:43 -03:00
float32 voltage_v # Battery voltage in volts, 0 if unknown
float32 voltage_filtered_v # Battery voltage in volts, filtered, 0 if unknown
float32 current_a # Battery current in amperes, -1 if unknown
Inline comment addition
2016-05-10 05:17:48 -03:00
float32 current_filtered_a # Battery current in amperes, filtered, 0 if unknown
Updated batt_smbus. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature. (#8991) * Updated and expanded batt_smbus to work with bq40z50-R2. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature, added commented out expanded battery_status.msg parameters for future mavlink expansion. * Changed errx to PX4_ERR * Added PX4_ERR returns
2018-03-06 05:42:20 -04:00
float32 average_current_a # Battery current average in amperes, -1 if unknown
Move battery status to generated topics
2015-05-25 14:23:43 -03:00
float32 discharged_mah # Discharged amount in mAh, -1 if unknown
commander: move battery calculations to systemlib The commander used to consume the battery_status topic and write the contents after some calculations into the system state. Instead, the calculations now happen in library calls in systemlib/battery. This moves the battery fields out of the vehicle_status message into the battery_status topic. This brought quite some changes in all modules that need battery information. The current state is compiling but untested.
2016-02-24 14:08:56 -04:00
float32 remaining # From 1 to 0, -1 if unknown
Explicit internal battery resistance params
2016-10-10 21:31:14 -03:00
float32 scale # Power scaling factor, >= 1, or -1 if unknown
Mavlink: fixed temperature for batteries (#12605)
2019-08-02 11:09:03 -03:00
float32 temperature # temperature of the battery. NaN if unknown
commander: move battery calculations to systemlib The commander used to consume the battery_status topic and write the contents after some calculations into the system state. Instead, the calculations now happen in library calls in systemlib/battery. This moves the battery fields out of the vehicle_status message into the battery_status topic. This brought quite some changes in all modules that need battery information. The current state is compiling but untested.
2016-02-24 14:08:56 -04:00
int32 cell_count # Number of cells
Added Power Brick related battery_status.msg fields system_source - This battery status is for the brick that is supplying VDD_5V_IN priority - Zero based, This battery status is for the brick that is connected to the Power controller's N-1 priority input. V1..VN. 0 would normally be Brick1, 1 for Brick2 etc Battery now assigns connected from the api in the updateBatteryStatus, as well as system_source and priority
2017-06-29 17:45:52 -03:00
bool connected # Whether or not a battery is connected, based on a voltage threshold
battery: check source param inside battery lib This moves the handling of the BAT%d_SOURCE param inside of the battery library. Users of the library now pass the source instead of the flag whether to publish. The battery library then checks if the source is selected using the param and publishes accordingly. Since we removed the strange system_source flag, we now need to look at all batteries in commander. For current estimation - I think - it makes sense to sum them up.
2020-03-25 07:27:05 -03:00
uint8 BATTERY_SOURCE_POWER_MODULE = 0
uint8 BATTERY_SOURCE_EXTERNAL = 0
uint8 BATTERY_SOURCE_ESCS = 0
uint8 source # Battery source
msg: fix typo
2020-03-23 05:08:07 -03:00
uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
Updated batt_smbus. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature. (#8991) * Updated and expanded batt_smbus to work with bq40z50-R2. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature, added commented out expanded battery_status.msg parameters for future mavlink expansion. * Changed errx to PX4_ERR * Added PX4_ERR returns
2018-03-06 05:42:20 -04:00
uint16 capacity # actual capacity of the battery
uint16 cycle_count # number of discharge cycles the battery has experienced
uint16 run_time_to_empty # predicted remaining battery capacity based on the present rate of discharge in min
uint16 average_time_to_empty # predicted remaining battery capacity based on the average rate of discharge in min
uint16 serial_number # serial number of the battery pack
SMBus battery (a.k.a. smart battery) enhancement. (#14496) * Enhancement: State of health, and max_error value is added. Both shows battery health of SMBUS smart battery. * Enhancement: BAT_C_MULT parameter is introduced. This is for high-current capable SMBUS-based battery. As SMBUS only provides 16-bit for current, it could only be +-32768mA which is about +-32A. But with proper treatment, it could be extended with little accuracy loss. This factor can be set for individual battery system with available information. * Relative SOC introduced. Proper SMBUS battery should provide percentage of remaining battery directly. Therefore it does not have to be computed like before. * State of Health introduced. Proper SMBUS battery should provide SOH value. * Max error: this shows estimation error of BMS. * Enhancement: With smart battery, precise estimation of time remaining is provided with impedance track. It is unit of minute, so 60 seconds multiplied. Update rate of this is not fast, but very useful. Co-authored-by: Hyon Lim <lim@uvify.com>
2020-03-31 18:28:22 -03:00
uint16 state_of_health # state of health. FullChargeCapacity/DesignCapacity.
uint16 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
Refactored to work with new battery_status module
2019-11-07 10:59:12 -04:00
uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
Updated batt_smbus. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature. (#8991) * Updated and expanded batt_smbus to work with bq40z50-R2. Expanded battery_status.msg. Fixed mavlink_messages.cpp temperature, added commented out expanded battery_status.msg parameters for future mavlink expansion. * Changed errx to PX4_ERR * Added PX4_ERR returns
2018-03-06 05:42:20 -04:00
Fixed reporting of battery voltages in uORB
2020-01-31 06:02:09 -04:00
float32[10] voltage_cell_v # Battery individual cell voltages
batt_smbus rework
2018-10-15 13:00:27 -03:00
float32 max_cell_voltage_delta # Max difference between individual cell voltages
Added Power Brick related battery_status.msg fields system_source - This battery status is for the brick that is supplying VDD_5V_IN priority - Zero based, This battery status is for the brick that is connected to the Power controller's N-1 priority input. V1..VN. 0 would normally be Brick1, 1 for Brick2 etc Battery now assigns connected from the api in the updateBatteryStatus, as well as system_source and priority
2017-06-29 17:45:52 -03:00
batt_smbus readd to configurations and fix compilation errors
2018-02-07 21:57:08 -04:00
bool is_powering_off # Power off event imminent indication, false if unknown
commander: move battery calculations to systemlib The commander used to consume the battery_status topic and write the contents after some calculations into the system state. Instead, the calculations now happen in library calls in systemlib/battery. This moves the battery fields out of the vehicle_status message into the battery_status topic. This brought quite some changes in all modules that need battery information. The current state is compiling but untested.
2016-02-24 14:08:56 -04:00
uint8 BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
uint8 BATTERY_WARNING_LOW = 1 # warning of low voltage
Battery: Implement an emergency warn level
2017-02-22 17:01:21 -04:00
uint8 BATTERY_WARNING_CRITICAL = 2 # critical voltage, return / abort immediately
uint8 BATTERY_WARNING_EMERGENCY = 3 # immediate landing required
uint8 BATTERY_WARNING_FAILED = 4 # the battery has failed completely
commander: move battery calculations to systemlib The commander used to consume the battery_status topic and write the contents after some calculations into the system state. Instead, the calculations now happen in library calls in systemlib/battery. This moves the battery fields out of the vehicle_status message into the battery_status topic. This brought quite some changes in all modules that need battery information. The current state is compiling but untested.
2016-02-24 14:08:56 -04:00
uint8 warning # current battery warning