forked from Archive/PX4-Autopilot
SMART_BATTERY_INFO to BATTERY_INFO (#22875)
* Update submodule mavlink to latest Wed Mar 13 01:02:16 UTC 2024 - mavlink in PX4/Firmware (497327e916103ef05ff8f08f47d33b9a19bc28d7):c4a5c49737
- mavlink current upstream:a3558d6b33
- Changes:c4a5c49737...a3558d6b33
a3558d6b 2024-03-07 Hamish Willee - common - DO_FENCE_ENABLE/PARACHUTE fix (#2090) b9730e0f 2024-03-06 olliw42 - update RADIO_RC_CHANNELS to latest, remove all mlrs from storm32.xml (#1919) 7fed0268 2024-03-06 Patrick José Pereira - common: MAV_CMD_DO_SET_SYS_CMP_ID: Add first version (#2082) 2909b481 2024-03-06 Hamish Willee - Update Pymavlink (#2089) e9b532a9 2024-03-05 Randy Mackay - common: add set-camera-source command (#2079) bcdbeb7f 2024-03-01 auturgy - Allow individual fences to be enabled and disabled (#2085) 2f8403d1 2024-02-29 Hamish Willee - MAV_CMD_ODID_SET_EMERGENCY - (#2086) daa59c02 2024-02-22 Peter Barker - common.xml: add a command to deal with safety switch (#2081) 977332e2 2024-02-14 Hamish Willee - COMPONENT_INFORMATION_BASIC - add manufacturer date (#2078) 4fef7de2 2024-02-07 Randy Mackay - Common: rename SMART_BATTERY_INFO to BATTERY_INFO and add SOH (#2070) 3865b311 2024-02-01 Hamish Willee - FLIGHT_INFORMATION - description to match PX4 (#2067) f80e6818 2024-01-31 KonradRudin - development.xml: merge both MAV_CMD enums together (#2074) * SMART_BATTERY_INFO to BATTERY_INFO on new mavlink module * Update src/modules/mavlink/streams/BATTERY_INFO.hpp * fix trivial whitespace --------- Co-authored-by: PX4 BuildBot <bot@px4.io> Co-authored-by: Daniel Agar <daniel@agar.ca>
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@ -1 +1 @@
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Subproject commit c4a5c497379ca873f73abe691a033641a6a5a817
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Subproject commit a3558d6b335d930fc01816fd168d16b3f38ed434
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@ -132,6 +132,7 @@
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#if !defined(CONSTRAINED_FLASH)
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# include "streams/ADSB_VEHICLE.hpp"
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# include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp"
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# include "streams/BATTERY_INFO.hpp"
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# include "streams/DEBUG.hpp"
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# include "streams/DEBUG_FLOAT_ARRAY.hpp"
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# include "streams/DEBUG_VECT.hpp"
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@ -147,7 +148,6 @@
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# include "streams/ODOMETRY.hpp"
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# include "streams/SCALED_PRESSURE2.hpp"
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# include "streams/SCALED_PRESSURE3.hpp"
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# include "streams/SMART_BATTERY_INFO.hpp"
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# include "streams/UAVIONIX_ADSB_OUT_CFG.hpp"
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# include "streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp"
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# include "streams/UTM_GLOBAL_POSITION.hpp"
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@ -259,9 +259,9 @@ static const StreamListItem streams_list[] = {
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create_stream_list_item<MavlinkStreamSysStatus>(),
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#endif // SYS_STATUS_HPP
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create_stream_list_item<MavlinkStreamBatteryStatus>(),
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#if defined(SMART_BATTERY_INFO_HPP)
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create_stream_list_item<MavlinkStreamSmartBatteryInfo>(),
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#endif // SMART_BATTERY_INFO_HPP
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#if defined(BATTERY_INFO_HPP)
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create_stream_list_item<MavlinkStreamBatteryInfo>(),
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#endif // BATTERY_INFO_HPP
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#if defined(HIGHRES_IMU_HPP)
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create_stream_list_item<MavlinkStreamHighresIMU>(),
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#endif // HIGHRES_IMU_HPP
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@ -31,30 +31,30 @@
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*
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****************************************************************************/
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#ifndef SMART_BATTERY_INFO_HPP
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#define SMART_BATTERY_INFO_HPP
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#ifndef BATTERY_INFO_HPP
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#define BATTERY_INFO_HPP
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#include <uORB/topics/battery_status.h>
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class MavlinkStreamSmartBatteryInfo : public MavlinkStream
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class MavlinkStreamBatteryInfo : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSmartBatteryInfo(mavlink); }
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryInfo(mavlink); }
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static constexpr const char *get_name_static() { return "SMART_BATTERY_INFO"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SMART_BATTERY_INFO; }
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static constexpr const char *get_name_static() { return "BATTERY_INFO"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_INFO; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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return size_per_battery * _battery_status_subs.advertised_count();
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}
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private:
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explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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explicit MavlinkStreamBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
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@ -67,36 +67,50 @@ private:
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if (battery_sub.update(&battery_status)) {
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if (battery_status.serial_number == 0) {
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// This is not smart battery
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// Required to emit
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continue;
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}
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mavlink_smart_battery_info_t msg{};
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mavlink_battery_info_t msg{};
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msg.id = battery_status.id - 1;
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msg.capacity_full_specification = battery_status.capacity;
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msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f);
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msg.design_capacity = (float)(battery_status.capacity * 1000);
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msg.full_charge_capacity = (float)(battery_status.state_of_health * battery_status.capacity * 1000.f) / 100.f;
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msg.cycle_count = battery_status.cycle_count;
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if (battery_status.manufacture_date) {
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uint16_t day = battery_status.manufacture_date % 32;
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uint16_t month = (battery_status.manufacture_date >> 5) % 16;
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uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100;
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uint16_t year = (80 + (battery_status.manufacture_date >> 9));
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uint16_t year2dig = year % 100;
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//Formatted as 'ddmmyyyy' (maxed 9 chars)
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snprintf(msg.manufacture_date, sizeof(msg.manufacture_date), "%d%d%d", day, month, year);
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//Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars)
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snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number);
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snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year2dig,
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battery_status.serial_number);
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} else {
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snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number);
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}
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//msg.device_name = ??
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msg.weight = -1;
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msg.discharge_minimum_voltage = -1;
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msg.charging_minimum_voltage = -1;
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msg.resting_minimum_voltage = -1;
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// Not supported by PX4 (not in battery_status uorb topic)
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/*
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msg.name = 0; // char[50]
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msg.weight = 0;
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msg.discharge_minimum_voltage = 0;
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msg.charging_minimum_voltage = 0;
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msg.resting_minimum_voltage = 0;
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msg.charging_maximum_voltage = 0;
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msg.charging_maximum_current = 0;
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msg.discharge_maximum_current = 0;
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msg.discharge_maximum_burst_current = 0;
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msg.cells_in_series = 0;
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msg.nominal_voltage = 0;
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*/
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mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg);
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mavlink_msg_battery_info_send_struct(_mavlink->get_channel(), &msg);
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updated = true;
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}
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}
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@ -105,4 +119,4 @@ private:
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}
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};
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#endif // SMART_BATTERY_INFO_HPP
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#endif // BATTERY_INFO_HPP
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