px4-firmware/msg/battery_status.msg

uint64 timestamp			# time since system start (microseconds)
bool connected				# Whether or not a battery is connected, based on a voltage threshold
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
float32 current_filtered_a	# Battery current in amperes, filtered, 0 if unknown
float32 current_average_a	# Battery current average in amperes, -1 if unknown
float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
float32 remaining			# From 1 to 0, -1 if unknown
float32 scale				# Power scaling factor, >= 1, or -1 if unknown
float32 time_remaining_s	# predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
float32 temperature			# temperature of the battery. NaN if unknown
uint8 cell_count			# Number of cells, 0 if unknown

uint8 BATTERY_SOURCE_POWER_MODULE = 0
uint8 BATTERY_SOURCE_EXTERNAL = 1
uint8 BATTERY_SOURCE_ESCS = 2
uint8 source				# Battery source
uint8 priority				# Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity				# actual capacity of the battery
uint16 cycle_count			# number of discharge cycles the battery has experienced
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
uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. formated as: Day + Month×32 + (Year–1980)×512
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%
uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
uint16 interface_error		# interface error counter

float32[14] voltage_cell_v		# Battery individual cell voltages, 0 if unknown
float32 max_cell_voltage_delta	# Max difference between individual cell voltages

bool is_powering_off			# Power off event imminent indication, false if unknown


uint8 BATTERY_WARNING_NONE = 0		# no battery low voltage warning active
uint8 BATTERY_WARNING_LOW = 1		# warning of low voltage
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

uint8 warning						# current battery warning


uint8 MAX_INSTANCES = 4

float32 average_power               # The average power of the current discharge
float32 available_energy            # The predicted charge or energy remaining in the battery
float32 remaining_capacity          # The compensated battery capacity remaining
float32 design_capacity             # The design capacity of the battery
uint16 average_time_to_full         # The predicted remaining time until the battery reaches full charge, in minutes
uint16 over_discharge_count         # Number of battery overdischarge
float32 nominal_voltage             # Nominal voltage of the battery pack