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New Crowdin translations - zh-CN (#26488)
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pageClass: is-wide-page
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---
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# BatteryStatusV0 (UORB message)
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Battery status
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Battery status.
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Battery status information for up to 4 battery instances.
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These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
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Battery instance information is also logged and streamed in MAVLink telemetry.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/BatteryStatusV0.msg)
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**TOPICS:** battery_statusv0
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| -------------------------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start |
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| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. |
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| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) |
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| current_a | `float32` | A | | Battery current (Invalid: -1) |
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| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) |
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| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) |
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| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
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| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
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| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
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| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) |
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| cell_count | `uint8` | | | Number of cells (Invalid: 0) |
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| source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
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| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
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| capacity | `uint16` | mAh | | Capacity of the battery when fully charged |
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| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced |
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| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge |
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| serial_number | `uint16` | | | Serial number of the battery pack |
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| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
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| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity |
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| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation |
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| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed |
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| interface_error | `uint16` | | | Interface error counter |
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| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) |
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| max_cell_voltage_delta | `float32` | | | Max difference between individual cell voltages |
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| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown |
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| is_required | `bool` | | | Set if the battery is explicitly required before arming |
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| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning |
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| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
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| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
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| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining |
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| over_discharge_count | `uint16` | | | Number of battery overdischarge |
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| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack |
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| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
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| ocv_estimate | `float32` | V | | Open circuit voltage estimate |
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| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
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| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate |
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| voltage_prediction | `float32` | V | | Predicted voltage |
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| prediction_error | `float32` | V | | Prediction error |
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| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix |
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## Enums
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### SOURCE {#SOURCE}
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| 参数名 | 类型 | 值 | 描述 |
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| ------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
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| <a href="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
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| <a href="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
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| <a href="#SOURCE_ESCS"></a> SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
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### WARNING {#WARNING}
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| 参数名 | 类型 | 值 | 描述 |
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| ------------------------------------------------------------------------ | ------- | - | -------------------------------------------- |
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| <a href="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
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| <a href="#WARNING_LOW"></a> WARNING_LOW | `uint8` | 1 | Low voltage warning |
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| <a href="#WARNING_CRITICAL"></a> WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
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| <a href="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
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| <a href="#WARNING_FAILED"></a> WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
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### STATE {#STATE}
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| 参数名 | 类型 | 值 | 描述 |
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| -------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| <a href="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
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| <a href="#STATE_CHARGING"></a> STATE_CHARGING | `uint8` | 7 | Battery is charging |
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### FAULT {#FAULT}
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| 参数名 | 类型 | 值 | 描述 |
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| ---------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
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| <a href="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
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| <a href="#FAULT_SPIKES"></a> FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
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| <a href="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
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| <a href="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
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| <a href="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
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| <a href="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
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| <a href="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
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| <a href="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
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| <a href="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
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| <a href="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
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| <a href="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
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| <a href="#FAULT_COUNT"></a> FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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| -------------------------------------------------------------------- | -------- | - | -- |
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| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 4 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/BatteryStatusV0.msg)
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:::details
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Click here to see original file
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```c
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# Battery status
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@@ -88,5 +194,6 @@ float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of c
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float32 voltage_prediction # [V] Predicted voltage
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float32 prediction_error # [V] Prediction error
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float32 estimation_covariance_norm # Norm of the covariance matrix
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```
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:::
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