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mavlink battery_status: report actual cell voltages

This commit is contained in:
Matthias Grob 2020-01-13 04:24:45 +01:00 committed by Lorenz Meier
parent de4f594937
commit 98a3910b06
1 changed files with 4 additions and 2 deletions
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6
src/modules/mavlink/mavlink_messages.cpp
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@ -737,10 +737,12 @@ protected:
}
static constexpr int mavlink_cells_max = (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0]));
static constexpr int uorb_cells_max =
(sizeof(battery_status.voltage_cell_v) / sizeof(battery_status.voltage_cell_v[0]));
for (int cell = 0; cell < mavlink_cells_max; cell++) {
if ((battery_status.cell_count > 0) && (cell < battery_status.cell_count) && battery_status.connected) {
bat_msg.voltages[cell] = (battery_status.voltage_v / battery_status.cell_count) * 1000.0f;
if (battery_status.connected && (cell < battery_status.cell_count) && (cell < uorb_cells_max)) {
bat_msg.voltages[cell] = battery_status.voltage_cell_v[cell] * 1000.0f;
} else {
bat_msg.voltages[cell] = UINT16_MAX;