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uavcan battery: switch to battery_info.serial_number

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Matthias Grob
2025-05-26 18:05:57 +02:00
committed by Silvan Fuhrer
parent 3ec684153a
commit a18453d632
2 changed files with 18 additions and 2 deletions
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src/drivers/uavcan/sensors/battery.cpp
+12 -2
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@@ -125,7 +125,6 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
// _battery_status[instance].cycle_count = msg.; // _battery_status[instance].cycle_count = msg.;
_battery_status[instance].time_remaining_s = NAN; _battery_status[instance].time_remaining_s = NAN;
// _battery_status[instance].average_time_to_empty = msg.; // _battery_status[instance].average_time_to_empty = msg.;
_battery_status[instance].serial_number = msg.model_instance_id;
_battery_status[instance].id = msg.getSrcNodeID().get(); _battery_status[instance].id = msg.getSrcNodeID().get();
if (_batt_update_mod[instance] == BatteryDataType::Raw) { if (_batt_update_mod[instance] == BatteryDataType::Raw) {
@@ -143,8 +142,14 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
determineWarning(_battery_status[instance].remaining); determineWarning(_battery_status[instance].remaining);
_battery_status[instance].warning = _warning; _battery_status[instance].warning = _warning;
_battery_info[instance].timestamp = _battery_status[instance].timestamp;
_battery_info[instance].id = _battery_status[instance].id;
snprintf(_battery_info[instance].serial_number, sizeof(_battery_info[instance].serial_number), "%" PRIu32,
msg.model_instance_id);
if (_batt_update_mod[instance] == BatteryDataType::Raw) { if (_batt_update_mod[instance] == BatteryDataType::Raw) {
publish(msg.getSrcNodeID().get(), &_battery_status[instance]); publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
_battery_info_pub[instance].publish(_battery_info[instance]);
} }
} }
@@ -238,8 +243,13 @@ UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructure<uavcan::equi
/* Override data that is expected to arrive from UAVCAN msg*/ /* Override data that is expected to arrive from UAVCAN msg*/
_battery_status[instance] = _battery[instance]->getBatteryStatus(); _battery_status[instance] = _battery[instance]->getBatteryStatus();
_battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius _battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
_battery_status[instance].serial_number = msg.model_instance_id;
_battery_status[instance].id = msg.getSrcNodeID().get(); // overwrite zeroed index from _battery _battery_status[instance].id = msg.getSrcNodeID().get(); // overwrite zeroed index from _battery
publish(msg.getSrcNodeID().get(), &_battery_status[instance]); publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
_battery_info[instance].timestamp = _battery_status[instance].timestamp;
_battery_info[instance].id = _battery_status[instance].id;
snprintf(_battery_info[instance].serial_number, sizeof(_battery_info[instance].serial_number), "%" PRIu32,
msg.model_instance_id);
_battery_info_pub[instance].publish(_battery_info[instance]);
} }
src/drivers/uavcan/sensors/battery.hpp
+6
View File
@@ -38,6 +38,7 @@
#pragma once #pragma once
#include "sensor_bridge.hpp" #include "sensor_bridge.hpp"
#include <uORB/topics/battery_info.h>
#include <uORB/topics/battery_status.h> #include <uORB/topics/battery_status.h>
#include <uavcan/equipment/power/BatteryInfo.hpp> #include <uavcan/equipment/power/BatteryInfo.hpp>
#include <ardupilot/equipment/power/BatteryInfoAux.hpp> #include <ardupilot/equipment/power/BatteryInfoAux.hpp>
@@ -95,6 +96,11 @@ private:
float _discharged_mah_loop = 0.f; float _discharged_mah_loop = 0.f;
uint8_t _warning; uint8_t _warning;
hrt_abstime _last_timestamp; hrt_abstime _last_timestamp;
// Separate battery info publication because UavcanSensorBridgeBase only supports publishing one topic
uORB::PublicationMulti<battery_info_s> _battery_info_pub[battery_status_s::MAX_INSTANCES] {ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info)};
battery_info_s _battery_info[battery_status_s::MAX_INSTANCES] {};
battery_status_s _battery_status[battery_status_s::MAX_INSTANCES] {}; battery_status_s _battery_status[battery_status_s::MAX_INSTANCES] {};
BatteryDataType _batt_update_mod[battery_status_s::MAX_INSTANCES] {}; BatteryDataType _batt_update_mod[battery_status_s::MAX_INSTANCES] {};