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GCS_MAVLink: always send an idea of battery voltage as part of BATTERY_STATUS #8999

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Aug 6, 2018
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GCS_MAVLink: always send an idea of battery voltage as part of BATTERY_STATUS #8999

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21 changes: 20 additions & 1 deletion libraries/GCS_MAVLink/GCS_Common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -203,12 +203,31 @@ void GCS_MAVLINK::send_battery_status(const AP_BattMonitor &battery,

float temp;
bool got_temperature = battery.get_temperature(temp, instance);

// ensure we always send a voltage estimate to the GCS, because not all battery monitors monitor individual cells
// as a work around for this we create a set of fake cells to be used if the backend doesn't provide direct monitoring
// the GCS can then recover the pack voltage by summing all non ignored cell values. Because this is looped we can
// report a pack up to 655.34 V with this method
AP_BattMonitor::cells fake_cells;
if (!battery.has_cell_voltages(instance)) {
float voltage = battery.voltage(instance) * 1e3f;
for (uint8_t i = 0; i < MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN; i++) {
if (voltage < 0.001f) {
// too small to send to the GCS, set it to the no cell value
fake_cells.cells[i] = UINT16_MAX;
} else {
fake_cells.cells[i] = MIN(voltage, 65534.0f); // Can't send more then UINT16_MAX - 1 in a cell
voltage -= 65534.0f;
}
}
}

mavlink_msg_battery_status_send(chan,
instance, // id
MAV_BATTERY_FUNCTION_UNKNOWN, // function
MAV_BATTERY_TYPE_UNKNOWN, // type
got_temperature ? ((int16_t) (temp * 100)) : INT16_MAX, // temperature. INT16_MAX if unknown
battery.get_cell_voltages(instance).cells, // cell voltages
battery.has_cell_voltages(instance) ? battery.get_cell_voltages(instance).cells : fake_cells.cells, // cell voltages
battery.has_current(instance) ? battery.current_amps(instance) * 100 : -1, // current in centiampere
battery.has_current(instance) ? battery.consumed_mah(instance) : -1, // total consumed current in milliampere.hour
battery.has_consumed_energy(instance) ? battery.consumed_wh(instance) * 36 : -1, // consumed energy in hJ (hecto-Joules)
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