*_config.yaml: document usage of multiple batteries diagnostics

mavlink · Feb 21, 2022 · 866e807 · 866e807
1 parent e1d87f3
commit 866e807
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/mavros/launch/apm_config.yaml b/mavros/launch/apm_config.yaml
@@ -15,7 +15,8 @@ conn:
 
 # sys_status
 sys:
-  min_voltage: 10.0   # diagnostics min voltage
+  min_voltage: 10.0   # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported
+                      # to achieve the same on a ROS launch file do: <rosparam param="sys/min_voltage">[16.2, 16.0]</rosparam>
   disable_diag: false # disable all sys_status diagnostics, except heartbeat
 
 # sys_time

diff --git a/mavros/launch/px4_config.yaml b/mavros/launch/px4_config.yaml
@@ -7,14 +7,15 @@ startup_px4_usb_quirk: false
 
 # sys_status & sys_time connection options
 conn:
-  heartbeat_rate: 1.0    # send hertbeat rate in Hertz
-  timeout: 10.0          # hertbeat timeout in seconds
+  heartbeat_rate: 1.0    # send heartbeat rate in Hertz
+  timeout: 10.0          # heartbeat timeout in seconds
   timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
   system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)
 
 # sys_status
 sys:
-  min_voltage: 10.0   # diagnostics min voltage
+  min_voltage: 10.0   # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported
+                      # to achieve the same on a ROS launch file do: <rosparam param="sys/min_voltage">[16.2, 16.0]</rosparam>
   disable_diag: false # disable all sys_status diagnostics, except heartbeat
 
 # sys_time