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AP_BattMonitor: extend AP_BATT_MONITOR_MAX_INSTANCES to 16 #24660

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Aug 29, 2023
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AP_BattMonitor: extend AP_BATT_MONITOR_MAX_INSTANCES to 16 #24660

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c7896d5
AP_BattMonitor: extend AP_BATT_MONITOR_MAX_INSTANCES to 16
magicrub Aug 15, 2023
79199f6
Tools/autotest: SITL reset to reset more/all16 Battery instances
magicrub Aug 15, 2023
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6 changes: 3 additions & 3 deletions Tools/autotest/ardusub.py
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Original file line number Diff line number Diff line change
Expand Up @@ -373,12 +373,12 @@ def SET_POSITION_TARGET_GLOBAL_INT(self):

def reboot_sitl(self):
"""Reboot SITL instance and wait it to reconnect."""
# out battery is reset to full on reboot. So reduce it to 10%
# our battery is reset to full on reboot. So reduce it to 10%
# and wait for it to go above 50.
self.run_cmd(
mavutil.mavlink.MAV_CMD_BATTERY_RESET,
p1=255, # battery mask
p2=10, # percentage
p1=65535, # battery mask
p2=10, # percentage
)
self.run_cmd_reboot()
tstart = time.time()
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4 changes: 2 additions & 2 deletions Tools/autotest/common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12687,8 +12687,8 @@ def FRSkyD(self):
# grab a battery-remaining percentage
self.run_cmd(
mavutil.mavlink.MAV_CMD_BATTERY_RESET,
p1=255, # battery mask
p2=96, # percentage
p1=65535, # battery mask
p2=96, # percentage
)
m = self.assert_receive_message('BATTERY_STATUS', timeout=1)
want_battery_remaining_pct = m.battery_remaining
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158 changes: 158 additions & 0 deletions libraries/AP_BattMonitor/AP_BattMonitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -237,6 +237,164 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
AP_SUBGROUPVARPTR(drivers[8], "9_", 49, AP_BattMonitor, backend_var_info[8]),
#endif

#if AP_BATT_MONITOR_MAX_INSTANCES > 9
// @Group: A_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[9], "A_", 32, AP_BattMonitor, AP_BattMonitor_Params),

// @Group: A_
// @Path: AP_BattMonitor_Analog.cpp
// @Group: A_
// @Path: AP_BattMonitor_SMBus.cpp
// @Group: A_
// @Path: AP_BattMonitor_Sum.cpp
// @Group: A_
// @Path: AP_BattMonitor_DroneCAN.cpp
// @Group: A_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: A_
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: A_
// @Path: AP_BattMonitor_INA2xx.cpp
AP_SUBGROUPVARPTR(drivers[9], "A_", 50, AP_BattMonitor, backend_var_info[9]),
#endif

#if AP_BATT_MONITOR_MAX_INSTANCES > 10
// @Group: B_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[10], "B_", 33, AP_BattMonitor, AP_BattMonitor_Params),

// @Group: B_
// @Path: AP_BattMonitor_Analog.cpp
// @Group: B_
// @Path: AP_BattMonitor_SMBus.cpp
// @Group: B_
// @Path: AP_BattMonitor_Sum.cpp
// @Group: B_
// @Path: AP_BattMonitor_DroneCAN.cpp
// @Group: B_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: B_
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: B_
// @Path: AP_BattMonitor_INA2xx.cpp
AP_SUBGROUPVARPTR(drivers[10], "B_", 51, AP_BattMonitor, backend_var_info[10]),
#endif

#if AP_BATT_MONITOR_MAX_INSTANCES > 11
// @Group: C_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[11], "C_", 34, AP_BattMonitor, AP_BattMonitor_Params),

// @Group: C_
// @Path: AP_BattMonitor_Analog.cpp
// @Group: C_
// @Path: AP_BattMonitor_SMBus.cpp
// @Group: C_
// @Path: AP_BattMonitor_Sum.cpp
// @Group: C_
// @Path: AP_BattMonitor_DroneCAN.cpp
// @Group: C_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: C_
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: C_
// @Path: AP_BattMonitor_INA2xx.cpp
AP_SUBGROUPVARPTR(drivers[11], "C_", 52, AP_BattMonitor, backend_var_info[11]),
#endif

#if AP_BATT_MONITOR_MAX_INSTANCES > 12
// @Group: D_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[12], "D_", 35, AP_BattMonitor, AP_BattMonitor_Params),

// @Group: D_
// @Path: AP_BattMonitor_Analog.cpp
// @Group: D_
// @Path: AP_BattMonitor_SMBus.cpp
// @Group: D_
// @Path: AP_BattMonitor_Sum.cpp
// @Group: D_
// @Path: AP_BattMonitor_DroneCAN.cpp
// @Group: D_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: D_
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: D_
// @Path: AP_BattMonitor_INA2xx.cpp
AP_SUBGROUPVARPTR(drivers[12], "D_", 53, AP_BattMonitor, backend_var_info[12]),
#endif

#if AP_BATT_MONITOR_MAX_INSTANCES > 13
// @Group: E_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[13], "E_", 36, AP_BattMonitor, AP_BattMonitor_Params),

// @Group: E_
// @Path: AP_BattMonitor_Analog.cpp
// @Group: E_
// @Path: AP_BattMonitor_SMBus.cpp
// @Group: E_
// @Path: AP_BattMonitor_Sum.cpp
// @Group: E_
// @Path: AP_BattMonitor_DroneCAN.cpp
// @Group: E_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: E_
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: E_
// @Path: AP_BattMonitor_INA2xx.cpp
AP_SUBGROUPVARPTR(drivers[13], "E_", 54, AP_BattMonitor, backend_var_info[13]),
#endif

#if AP_BATT_MONITOR_MAX_INSTANCES > 14
// @Group: F_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[14], "F_", 37, AP_BattMonitor, AP_BattMonitor_Params),

// @Group: F_
// @Path: AP_BattMonitor_Analog.cpp
// @Group: F_
// @Path: AP_BattMonitor_SMBus.cpp
// @Group: F_
// @Path: AP_BattMonitor_Sum.cpp
// @Group: F_
// @Path: AP_BattMonitor_DroneCAN.cpp
// @Group: F_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: F_
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: F_
// @Path: AP_BattMonitor_INA2xx.cpp
AP_SUBGROUPVARPTR(drivers[14], "F_", 55, AP_BattMonitor, backend_var_info[14]),
#endif

#if AP_BATT_MONITOR_MAX_INSTANCES > 15
// @Group: G_
// @Path: AP_BattMonitor_Params.cpp
AP_SUBGROUPINFO(_params[15], "G_", 38, AP_BattMonitor, AP_BattMonitor_Params),

// @Group: G_
// @Path: AP_BattMonitor_Analog.cpp
// @Group: G_
// @Path: AP_BattMonitor_SMBus.cpp
// @Group: G_
// @Path: AP_BattMonitor_Sum.cpp
// @Group: G_
// @Path: AP_BattMonitor_DroneCAN.cpp
// @Group: G_
// @Path: AP_BattMonitor_FuelLevel_Analog.cpp
// @Group: G_
// @Path: AP_BattMonitor_Synthetic_Current.cpp
// @Group: G_
// @Path: AP_BattMonitor_INA2xx.cpp
AP_SUBGROUPVARPTR(drivers[15], "G_", 56, AP_BattMonitor, backend_var_info[15]),
#endif

#if AP_BATT_MONITOR_MAX_INSTANCES > 16
#error "AP_BATT_MONITOR_MAX_INSTANCES too large, reset_remaining_mask() will cause an assert above 16"
#endif

AP_GROUPEND
};

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