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Fix uavcan battery causing immediate RTL time remaining low

This commit is contained in:
alexklimaj 2022-05-11 18:28:40 -06:00 committed by Daniel Agar
parent fba7c972d1
commit 0f69f8ced8
2 changed files with 4 additions and 4 deletions
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6
src/drivers/uavcan/sensors/battery.cpp
View File

@ -87,7 +87,7 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
battery_status[instance].voltage_filtered_v = msg.voltage;
battery_status[instance].current_a = msg.current;
battery_status[instance].current_filtered_a = msg.current;
// battery_status[instance].current_average_a = msg.;
battery_status[instance].current_average_a = msg.current;
if (battery_aux_support[instance] == false) {
sumDischarged(battery_status[instance].timestamp, battery_status[instance].current_a);
@ -101,11 +101,11 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
battery_status[instance].connected = true;
battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
// battery_status[instance].priority = msg.;
// battery_status[instance].capacity = msg.;
battery_status[instance].capacity = msg.full_charge_capacity_wh;
battery_status[instance].full_charge_capacity_wh = msg.full_charge_capacity_wh;
battery_status[instance].remaining_capacity_wh = msg.remaining_capacity_wh;
// battery_status[instance].cycle_count = msg.;
// battery_status[instance].time_remaining_s = msg.;
battery_status[instance].time_remaining_s = NAN;
// battery_status[instance].average_time_to_empty = msg.;
battery_status[instance].serial_number = msg.model_instance_id;
battery_status[instance].id = msg.getSrcNodeID().get();

2
src/drivers/uavcan/sensors/battery.hpp
View File

@ -85,5 +85,5 @@ private:
uint8_t _warning;
hrt_abstime _last_timestamp;
battery_status_s battery_status[battery_status_s::MAX_INSTANCES] {};
bool battery_aux_support[battery_status_s::MAX_INSTANCES] {};
bool battery_aux_support[battery_status_s::MAX_INSTANCES] {false};
};