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mavlink: stream battery status fields (#13420)

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* Implement battery status "charge state" on mavlink battery status message
This commit is contained in:
BazookaJoe1900
2019-11-15 16:25:30 +02:00
committed by Kabir Mohammed
parent 452657face
commit cc41e5be20
1 changed files with 26 additions and 0 deletions
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src/modules/mavlink/mavlink_messages.cpp
+26
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@@ -700,6 +700,32 @@ protected:
bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1;
bat_msg.battery_remaining = (battery_status.connected) ? ceilf(battery_status.remaining * 100.0f) : -1;
switch (battery_status.warning) {
case (battery_status_s::BATTERY_WARNING_NONE):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_OK;
break;
case (battery_status_s::BATTERY_WARNING_LOW):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_LOW;
break;
case (battery_status_s::BATTERY_WARNING_CRITICAL):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_CRITICAL;
break;
case (battery_status_s::BATTERY_WARNING_EMERGENCY):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_EMERGENCY;
break;
case (battery_status_s::BATTERY_WARNING_FAILED):
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_FAILED;
break;
default:
bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_UNDEFINED;
break;
}
// check if temperature valid
if (battery_status.connected && PX4_ISFINITE(battery_status.temperature)) {
bat_msg.temperature = battery_status.temperature * 100.0f;