Copter & Plane: Report battery failsafe via the sys_status message #5574
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It's a slight stretch of the intended usage if we're talking about the new enum representing the battery monitor but it's ok if we consider it's the battery itself. Basically I'm ok with it. |
| @@ -215,6 +219,10 @@ void Plane::update_sensor_status_flags(void) | |||
| control_sensors_enabled |= MAV_SYS_STATUS_LOGGING; | |||
| } | |||
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| if (g.fs_batt_voltage != 0 || g.fs_batt_mah != 0) { | |||
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Isnt using >0 better here?
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Not sure, 0 was the enable value, although on reflection I think the voltage one is a float so that should change to is_zero(). I'm not sure if there is any logical reason, but I'm pretty sure you could be looking at negative voltages if you had a negative multiplier.
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On reflection we do it as if current < fs_batt_voltage so that doesn't matter. Will change to > 0
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Rover doesn't have a battery failsafe yet, so this is good to be merged now. |
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Merged. |
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@DonLakeFlyer Do you have any suggestions ? |
Adds a MAVLink enum for the SYS_STATUS_SENSOR_BATTERY field, reports as present if the AP_BattMonitor primary instance is healthy, reports enabled if either of the battery failsafes are enabled, reports healthy as long as battery failsafe hasn't been triggered.
This is meant to address the fact that there is 0 persistent indication to the GCS that the aircraft is in a low battery/failsafe state. If everyone is fine with it I can extend it to Copter/Rover. Long term we still need a proper failsafe reporting system, however this is an easy fix for the larger problem, and actually is very consistent with the current reporting mechanisms.