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fix(mavlink): preserve -1 marker in battery fields (#27142)
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This commit is contained in:
av-remco
2026-05-05 20:02:19 +02:00
committed by GitHub
parent b8f9d8a4f4
commit 9d8af2fb4c
2 changed files with 8 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/streams/BATTERY_STATUS.hpp
+6 -3
View File
@@ -72,10 +72,13 @@ private:
bat_msg.id = battery_status.id - 1;
bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL;
bat_msg.type = MAV_BATTERY_TYPE_LIPO;
bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1;
bat_msg.current_consumed = (battery_status.connected
&& fabsf(battery_status.discharged_mah + 1.f) > FLT_EPSILON) ? battery_status.discharged_mah : -1;
bat_msg.energy_consumed = -1;
bat_msg.current_battery = (battery_status.connected) ? battery_status.current_a * 100 : -1;
bat_msg.battery_remaining = (battery_status.connected) ? roundf(battery_status.remaining * 100.f) : -1;
bat_msg.current_battery = (battery_status.connected
&& fabsf(battery_status.current_a + 1.f) > FLT_EPSILON) ? battery_status.current_a * 100 : -1;
bat_msg.battery_remaining = (battery_status.connected
&& fabsf(battery_status.remaining + 1.f) > FLT_EPSILON) ? roundf(battery_status.remaining * 100.f) : -1;
// MAVLink extension: 0 is unsupported, in uORB it's NAN
bat_msg.time_remaining = (battery_status.connected && (PX4_ISFINITE(battery_status.time_remaining_s))) ?
math::max((int)battery_status.time_remaining_s, 1) : 0;
src/modules/mavlink/streams/SYS_STATUS.hpp
+2 -2
View File
@@ -170,8 +170,8 @@ private:
if (lowest_battery.connected) {
msg.voltage_battery = lowest_battery.voltage_v * 1000.0f;
msg.current_battery = lowest_battery.current_a * 100.0f;
msg.battery_remaining = ceilf(lowest_battery.remaining * 100.0f);
msg.current_battery = (fabsf(lowest_battery.current_a + 1.f) > FLT_EPSILON) ? lowest_battery.current_a * 100.0f : -1;
msg.battery_remaining = (fabsf(lowest_battery.remaining + 1.f) > FLT_EPSILON) ? ceilf(lowest_battery.remaining * 100.0f) : -1;
} else {
msg.voltage_battery = UINT16_MAX;