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SMART_BATTERY_* messages: Added #1072

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merged 6 commits into from Feb 7, 2019
Merged

SMART_BATTERY_* messages: Added #1072

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b90f381
SMART_BATTERY_* messages: Added
hamishwillee Feb 1, 2019
478569d
Add WIP note to message.
hamishwillee Feb 3, 2019
ac312a7
Remove 0 enum value in MAV_SMART_BATTERY_FAULT
hamishwillee Feb 3, 2019
3fdc7bb
Merge branch 'master' into smart_bat
hamishwillee Feb 6, 2019
1dd3361
SMART_BATTERY_* new faults and usage guidelines
hamishwillee Feb 7, 2019
e45ffe1
SMART_BATTERY_STATUS - id and cell_offset to uint_16
hamishwillee Feb 7, 2019
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52 changes: 51 additions & 1 deletion message_definitions/v1.0/common.xml
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Expand Up @@ -2629,6 +2629,27 @@
<description>Battery is charging.</description>
</entry>
</enum>
<enum name="MAV_SMART_BATTERY_FAULT">
<description>Smart battery supply status/fault flags (bitmask) for health indication.</description>
<entry value="1" name="MAV_SMART_BATTERY_FAULT_DEEP_DISCHARGE">
<description>Battery has deep discharged.</description>
</entry>
<entry value="2" name="MAV_SMART_BATTERY_FAULT_SPIKES">
<description>Voltage spikes.</description>
</entry>
<entry value="4" name="MAV_SMART_BATTERY_FAULT_SINGLE_CELL_FAIL">
<description>Single cell has failed.</description>
</entry>
<entry value="8" name="MAV_SMART_BATTERY_FAULT_OVER_CURRENT">
<description>Over-current fault.</description>
</entry>
<entry value="16" name="MAV_SMART_BATTERY_FAULT_OVER_TEMPERATURE">
<description>Over-temperature fault.</description>
</entry>
<entry value="32" name="MAV_SMART_BATTERY_FAULT_UNDER_TEMPERATURE">
<description>Under-temperature fault.</description>
</entry>
</enum>
<enum name="MAV_VTOL_STATE">
<description>Enumeration of VTOL states</description>
<entry value="0" name="MAV_VTOL_STATE_UNDEFINED">
Expand Down Expand Up @@ -4434,7 +4455,7 @@
<field type="float" name="yaw_rate" units="rad/s">Angular rate in yaw axis</field>
</message>
<message id="147" name="BATTERY_STATUS">
<description>Battery information</description>
<description>Battery information. Updates GCS with flight controller battery status. Use SMART_BATTERY_* messages instead for smart batteries.</description>
<field type="uint8_t" name="id">Battery ID</field>
<field type="uint8_t" name="battery_function" enum="MAV_BATTERY_FUNCTION">Function of the battery</field>
<field type="uint8_t" name="type" enum="MAV_BATTERY_TYPE">Type (chemistry) of the battery</field>
Expand Down Expand Up @@ -5057,6 +5078,35 @@
<field type="uint8_t" name="severity" enum="MAV_SEVERITY">Severity of status. Relies on the definitions within RFC-5424.</field>
<field type="char[254]" name="text">Status text message, without null termination character.</field>
</message>
<!-- Smart battery messages -->
<message id="370" name="SMART_BATTERY_INFO">
<wip/>
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<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Smart Battery information (static/infrequent update). Use for updates from: smart battery to flight stack, flight stack to GCS. Use instead of BATTERY_STATUS for smart batteries.</description>
<field type="uint8_t" name="id">Battery ID</field>
<field type="int32_t" name="capacity_full_specification" units="mAh">Capacity when full according to manufacturer, -1: field not provided.</field>
<field type="int32_t" name="capacity_full" units="mAh">Capacity when full (accounting for battery degradation), -1: field not provided.</field>
<field type="uint16_t" name="cycle_count">Charge/discharge cycle count. -1: field not provided.</field>
<field type="int32_t" name="serial_number">Serial number. -1: field not provided.</field>
<field type="char[50]" name="device_name">Static device name. Encode as manufacturer and product names separated using an underscore.</field>
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<field type="uint16_t" name="weight" units="g">Battery weight. 0: field not provided.</field>
<field type="uint16_t" name="discharge_minimum_voltage" units="mV">Minimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.</field>
<field type="uint16_t" name="charging_minimum_voltage" units="mV">Minimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.</field>
<field type="uint16_t" name="resting_minimum_voltage" units="mV">Minimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.</field>
</message>
<message id="371" name="SMART_BATTERY_STATUS">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Smart Battery information (dynamic). Use for updates from: smart battery to flight stack, flight stack to GCS. Use instead of BATTERY_STATUS for smart batteries.</description>
<field type="uint16_t" name="id">Battery ID</field>
<field type="int16_t" name="capacity_remaining" units="%">Remaining battery energy. Values: [0-100], -1: field not provided.</field>
<field type="int16_t" name="current" units="cA">Battery current (through all cells/loads). Positive if discharging, negative if charging. UINT16_MAX: field not provided.</field>
<field type="int16_t" name="temperature" units="cdegC">Battery temperature. -1: field not provided.</field>
<field type="int32_t" name="fault_bitmask" display="bitmask" enum="MAV_SMART_BATTERY_FAULT">Fault/health indications.</field>
<field type="int32_t" name="time_remaining" units="s">Estimated remaining battery time. -1: field not provided.</field>
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Would it not make more sense to move the voltages array to the last field in order to let mavlink2 automatically truncate the array ?

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@amilcarlucas This one is more complicated. The ordering is by size first, and only based on declaration order within the common sizes.

So to move the voltages to the end I would need to change id and cell_offset from uint8_t to uint16_t. So basically 2 bytes extra for every message. That said, I think it is worth it, because we know that as long as we have less than 14 cells we're saving space.

Seems a reasonable tradeoff (until someone decides to create and extension message that breaks this. I'll change.

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Done

<field type="uint16_t" default="0" name="cell_offset">The cell number of the first index in the 'voltages' array field. Using this field allows you to specify cell voltages for batteries with more than 16 cells.</field>
<field type="uint16_t[16]" name="voltages" units="mV">Individual cell voltages. Batteries with more 16 cells can use the cell_offset field to specify the cell offset for the array specified in the current message . Index values above the valid cell count for this battery should have the UINT16_MAX value.</field>
</message>
<!-- Rover specific messages -->
<message id="9000" name="WHEEL_DISTANCE">
<description>Cumulative distance traveled for each reported wheel.</description>
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