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publish BATTERY2 message as /mavros/battery2 topic #1619

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merged 1 commit into from
Sep 6, 2021
Merged

publish BATTERY2 message as /mavros/battery2 topic #1619

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16 changes: 16 additions & 0 deletions mavros/src/plugins/sys_status.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -490,6 +490,7 @@ class SystemStatusPlugin : public plugin::PluginBase
state_pub = nh.advertise<mavros_msgs::State>("state", 10, true);
extended_state_pub = nh.advertise<mavros_msgs::ExtendedState>("extended_state", 10);
batt_pub = nh.advertise<BatteryMsg>("battery", 10);
batt2_pub = nh.advertise<BatteryMsg>("battery2", 10);
estimator_status_pub = nh.advertise<mavros_msgs::EstimatorStatus>("estimator_status", 10);
statustext_pub = nh.advertise<mavros_msgs::StatusText>("statustext/recv", 10);
statustext_sub = nh.subscribe("statustext/send", 10, &SystemStatusPlugin::statustext_cb, this);
Expand All @@ -514,6 +515,7 @@ class SystemStatusPlugin : public plugin::PluginBase
make_handler(&SystemStatusPlugin::handle_extended_sys_state),
make_handler(&SystemStatusPlugin::handle_battery_status),
make_handler(&SystemStatusPlugin::handle_estimator_status),
make_handler(&SystemStatusPlugin::handle_battery2),
};
}

Expand All @@ -532,6 +534,7 @@ class SystemStatusPlugin : public plugin::PluginBase
ros::Publisher state_pub;
ros::Publisher extended_state_pub;
ros::Publisher batt_pub;
ros::Publisher batt2_pub;
ros::Publisher estimator_status_pub;
ros::Publisher statustext_pub;
ros::Subscriber statustext_sub;
Expand Down Expand Up @@ -795,6 +798,19 @@ class SystemStatusPlugin : public plugin::PluginBase
batt_pub.publish(batt_msg);
}

void handle_battery2(const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::BATTERY2 &batt) {
float volt = batt.voltage / 1000.0f; // mV
float curr = batt.current_battery / 100.0f; // 10 mA or -1

auto batt_msg = boost::make_shared<BatteryMsg>();
batt_msg->header.stamp = ros::Time::now();

batt_msg->voltage = volt;
batt_msg->current = curr;

batt2_pub.publish(batt_msg);
}

void handle_statustext(const mavlink::mavlink_message_t *msg, mavlink::common::msg::STATUSTEXT &textm)
{
auto text = mavlink::to_string(textm.text);
Expand Down