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extend support for Battery status message

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2021-12-28 12:09:17 +01:00
committed by Beat Küng
parent bb1177d504
commit d122513197
8 changed files with 363 additions and 59 deletions
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msg/battery_status.msg
+26 -2
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@@ -22,7 +22,7 @@ uint16 cycle_count # number of discharge cycles the battery has experienced
uint16 average_time_to_empty # predicted remaining battery capacity based on the average rate of discharge in min
uint16 serial_number # serial number of the battery pack
uint16 manufacture_date # manufacture date, part of serial number of the battery pack. formated as: Day + Month×32 + (Year–1980)×512
uint16 state_of_health # state of health. FullChargeCapacity/DesignCapacity.
uint16 state_of_health # state of health. FullChargeCapacity/DesignCapacity, 0-100%.
uint16 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
uint16 interface_error # interface error counter
@@ -31,6 +31,7 @@ float32[14] voltage_cell_v # Battery individual cell voltages, 0 if unknown
float32 max_cell_voltage_delta # Max difference between individual cell voltages
bool is_powering_off # Power off event imminent indication, false if unknown
bool is_required # Set if the battery is explicitly required before arming
uint8 BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
@@ -38,8 +39,31 @@ uint8 BATTERY_WARNING_LOW = 1 # warning of low voltage
uint8 BATTERY_WARNING_CRITICAL = 2 # critical voltage, return / abort immediately
uint8 BATTERY_WARNING_EMERGENCY = 3 # immediate landing required
uint8 BATTERY_WARNING_FAILED = 4 # the battery has failed completely
uint8 BATTERY_STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
uint8 BATTERY_STATE_CHARGING = 7 # Battery is charging
uint8 warning # current battery warning
uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
uint8 BATTERY_FAULT_SPIKES = 1 # Voltage spikes
uint8 BATTERY_FAULT_CELL_FAIL= 2 # One or more cells have failed
uint8 BATTERY_FAULT_OVER_CURRENT = 3 # Over-current
uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 # Over-temperature
uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with battery one
uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem
uint8 BATTERY_WARNING_OVER_TEMPERATURE = 10 # Over-temperature
uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication.
uint32 custom_faults # Bitmask indicating smart battery internal manufacturer faults, those are not user actionable.
uint8 warning # Current battery warning
uint8 mode # Battery mode. Note, the normal operation mode
uint8 BATTERY_MODE_UNKNOWN = 0 # Battery does not support a mode, or if it does, is operational
uint8 BATTERY_MODE_AUTO_DISCHARGING = 1 # Battery is auto discharging (towards storage level)
uint8 BATTERY_MODE_HOT_SWAP = 2 # Battery in hot-swap mode
uint8 BATTERY_MODE_COUNT = 3 # Counter - keep it as last element (once we're fully migrated to events interface we can just comment this)!
uint8 MAX_INSTANCES = 4