SMART_BATTERY_INFO to BATTERY_INFO #22875
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- mavlink in PX4/Firmware (497327e): mavlink/mavlink@c4a5c49 - mavlink current upstream: mavlink/mavlink@a3558d6 - Changes: mavlink/mavlink@c4a5c49...a3558d6 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)
| msg.name = 0; // char[50] | ||
| msg.weight = 0; | ||
| msg.discharge_minimum_voltage = 0; | ||
| msg.charging_minimum_voltage = 0; | ||
| msg.resting_minimum_voltage = 0; | ||
| msg.charging_maximum_voltage = 0; | ||
| msg.charging_maximum_current = 0; | ||
| msg.discharge_maximum_current = 0; | ||
| msg.discharge_maximum_burst_current = 0; | ||
| msg.cells_in_series = 0; | ||
| msg.nominal_voltage = 0; | ||
| */ |
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My understanding is that if the default is 0 you don't need to set it. I've kept here to show what we haven't implemented yet in the MAVLink message.
| msg.design_capacity = (float)(battery_status.capacity * 1000); | ||
| msg.full_charge_capacity = (float)(battery_status.state_of_health * battery_status.capacity * 1000.f) / 100.f; |
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These two changed from mAh to Ah, and from int to float.
| @@ -67,36 +67,49 @@ class MavlinkStreamSmartBatteryInfo : public MavlinkStream | |||
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| if (battery_sub.update(&battery_status)) { | |||
| if (battery_status.serial_number == 0) { | |||
| // This is not smart battery | |||
| // Required to emit | |||
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We're no longer identifying as "smart batteries". This might not be a reasonable thing to check on because perhaps a battery outputs the other information but not this.
| snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number); | ||
| } | ||
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| //msg.device_name = ?? | ||
| msg.weight = -1; |
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FYI this was wrong previously too
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Astyle is angry about whitespace. https://github.com/PX4/PX4-Autopilot/actions/runs/8260343314/job/22595701064?pr=22875
Note this stream isn't enabled by default. Other than that this seems okay, the bigger problem I see is how badly we've overloaded |
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@dagar Yes this needs to be done right, but perhaps as a post process so we can get MAVLink auto updating again? There is one failing test so I can't merge this.
Yes. Perhaps split this along the lines of the MAVLink new high and low rate messages: BATTERY_STATUS_V2 and BATTERY_INFO.
Do you want me to take a shot at the uorb split? If I do it the work will be slow. |
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Do we need to worry about these tests? |
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It's flash overflowing. In my opinion we just need to go to GCC 10 or higher to get some flash back. |
* Update submodule mavlink to latest Wed Mar 13 01:02:16 UTC 2024
- mavlink in PX4/Firmware (497327e): mavlink/mavlink@c4a5c49
- mavlink current upstream: mavlink/mavlink@a3558d6
- Changes: mavlink/mavlink@c4a5c49...a3558d6
a3558d6b 2024-03-07 Hamish Willee - common - DO_FENCE_ENABLE/PARACHUTE fix (PX4#2090)
b9730e0f 2024-03-06 olliw42 - update RADIO_RC_CHANNELS to latest, remove all mlrs from storm32.xml (PX4#1919)
7fed0268 2024-03-06 Patrick José Pereira - common: MAV_CMD_DO_SET_SYS_CMP_ID: Add first version (PX4#2082)
2909b481 2024-03-06 Hamish Willee - Update Pymavlink (PX4#2089)
e9b532a9 2024-03-05 Randy Mackay - common: add set-camera-source command (PX4#2079)
bcdbeb7f 2024-03-01 auturgy - Allow individual fences to be enabled and disabled (PX4#2085)
2f8403d1 2024-02-29 Hamish Willee - MAV_CMD_ODID_SET_EMERGENCY - (PX4#2086)
daa59c02 2024-02-22 Peter Barker - common.xml: add a command to deal with safety switch (PX4#2081)
977332e2 2024-02-14 Hamish Willee - COMPONENT_INFORMATION_BASIC - add manufacturer date (PX4#2078)
4fef7de2 2024-02-07 Randy Mackay - Common: rename SMART_BATTERY_INFO to BATTERY_INFO and add SOH (PX4#2070)
3865b311 2024-02-01 Hamish Willee - FLIGHT_INFORMATION - description to match PX4 (PX4#2067)
f80e6818 2024-01-31 KonradRudin - development.xml: merge both MAV_CMD enums together (PX4#2074)
* SMART_BATTERY_INFO to BATTERY_INFO on new mavlink module
* Update src/modules/mavlink/streams/BATTERY_INFO.hpp
* fix trivial whitespace
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Co-authored-by: PX4 BuildBot <bot@px4.io>
Co-authored-by: Daniel Agar <daniel@agar.ca>
#22724 is failing because SMART_BATTERY_INFO was renamed to BATTERY_INFO and aligned with UAVCAN in https://github.com/mavlink/mavlink/pull/2070/files
This was reasonable as there are no smart batteries, but breaks MAVLink import, because PX4 implements it. This includes the same MAVLink module commit, but also renames SMART_BATTERY_INFO to BATTERY_INFO.
I'm fairly sure I got it right (all builds) but I'm not a software engineer. NOTE, a bunch of these fields aren't implemented in PX4 uorb topic so can't be passed through to MAVLink.
You can see the changes in link above, but at high level:
id,battery_function,type, cycle_count,weight,cells_in_series,cycle_count`serial_number- char[16] to [32]capacity_full_specificationrenamed todesign_capacityand changed from mAh int32 to float Ahcapacity_fullrenamed tofull_charge_capacityand changed from mAh int32 to float Ahdevice_namerenamed tonamedischarge_minimum_voltage,charging_minimum_voltage,resting_minimum_voltage,charging_maximum_voltage,discharge_maximum_current,discharge_maximum_burst_current- were uint16_t mV, changed to float V and 0 if not supportedmanufacture_date- char[11] to char[19] - stripped out the/separatorscharging_maximum_current,nominal_voltagestate_of_healthwhich is in the uorb topic but not in old message.