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uavcan battery: fix battery_status.scale, time_remaining and timestamp

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- timestamp was 0 if uavcan::BatteryInfo was received before uavcan::BatteryInfoAux
- scale was not set as unknown (-1) even though it is since it's never updated
- time_remaining was not initialized correctly and could sometimes be 0
  unexpectedly which causes the drone to failsafe because there's reportedly no flight time left
This commit is contained in:
Matthias Grob
2025-06-04 16:19:13 +02:00
parent adc299d019
commit 30d4ff3c6c
1 changed files with 7 additions and 4 deletions
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src/drivers/uavcan/sensors/battery.cpp
+7 -4
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@@ -110,10 +110,11 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
if (_batt_update_mod[instance] == BatteryDataType::Raw) {
sumDischarged(_battery_status[instance].timestamp, _battery_status[instance].current_a);
_battery_status[instance].discharged_mah = _discharged_mah;
_battery_status[instance].time_remaining_s = NAN;
}
_battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
// _battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
_battery_status[instance].scale = -1.f;
_battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
// _battery_status[instance].cell_count = msg.;
_battery_status[instance].connected = true;
@@ -123,7 +124,6 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
_battery_status[instance].full_charge_capacity_wh = msg.full_charge_capacity_wh;
_battery_status[instance].remaining_capacity_wh = msg.remaining_capacity_wh;
// _battery_status[instance].cycle_count = msg.;
_battery_status[instance].time_remaining_s = NAN;
// _battery_status[instance].average_time_to_empty = msg.;
_battery_status[instance].id = msg.getSrcNodeID().get();
@@ -182,7 +182,7 @@ UavcanBatteryBridge::battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardu
_battery_status[instance].cycle_count = msg.cycle_count;
_battery_status[instance].over_discharge_count = msg.over_discharge_count;
_battery_status[instance].nominal_voltage = msg.nominal_voltage;
_battery_status[instance].time_remaining_s = math::isZero(_battery_status[instance].current_a) ? 0 :
_battery_status[instance].time_remaining_s = math::isZero(_battery_status[instance].current_a) ? NAN :
(_battery_status[instance].remaining_capacity_wh /
_battery_status[instance].nominal_voltage / _battery_status[instance].current_a * 3600);
_battery_status[instance].is_powering_off = msg.is_powering_off;
@@ -191,7 +191,10 @@ UavcanBatteryBridge::battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardu
_battery_status[instance].voltage_cell_v[i] = msg.voltage_cell[i];
}
publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
// Publish the message once populated with the standard BatteryInfo data
if (_battery_status[instance].timestamp != 0) {
publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
}
}
void