mirror of
https://github.com/PX4/PX4-Autopilot.git
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battery_status message: remove serial_number which is now in battery_info message
This commit is contained in:
Matthias Grob
committed by
Silvan Fuhrer
Silvan Fuhrer
parent
1d86ede6c6
commit
eccfb18b51
@@ -0,0 +1,79 @@
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# Battery status
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#
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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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uint32 MESSAGE_VERSION = 0
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uint8 MAX_INSTANCES = 4
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uint64 timestamp # [us] Time since system start
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bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
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float32 voltage_v # [V] [@invalid 0] Battery voltage
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float32 current_a # [A] [@invalid -1] Battery current
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float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
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float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
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float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
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float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
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float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
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float32 temperature # [°C] [@invalid NaN] Temperature of the battery
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uint8 cell_count # [@invalid 0] Number of cells
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uint8 source # [@enum SOURCE] Battery source
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uint8 SOURCE_POWER_MODULE = 0 # Power module
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uint8 SOURCE_EXTERNAL = 1 # External
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uint8 SOURCE_ESCS = 2 # ESCs
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uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
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uint16 capacity # [mAh] Capacity of the battery when fully charged
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uint16 cycle_count # Number of discharge cycles the battery has experienced
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uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
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uint16 serial_number # Serial number of the battery pack
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uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
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uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
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uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
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uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
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uint16 interface_error # Interface error counter
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float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
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float32 max_cell_voltage_delta # Max difference between individual cell voltages
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bool is_powering_off # Power off event imminent indication, false if unknown
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bool is_required # Set if the battery is explicitly required before arming
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uint8 warning # [@enum WARNING STATE] Current battery warning
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uint8 WARNING_NONE = 0 # No battery low voltage warning active
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uint8 WARNING_LOW = 1 # Low voltage warning
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uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
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uint8 WARNING_EMERGENCY = 3 # Immediate landing required
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uint8 WARNING_FAILED = 4 # Battery has failed completely
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uint8 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
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uint8 STATE_CHARGING = 7 # Battery is charging
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uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
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uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
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uint8 FAULT_SPIKES = 1 # Voltage spikes
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uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
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uint8 FAULT_OVER_CURRENT = 3 # Over-current
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uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
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uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
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uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
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uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
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uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
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uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
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uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
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uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
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float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
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float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
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uint16 over_discharge_count # Number of battery overdischarge
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float32 nominal_voltage # [V] Nominal voltage of the battery pack
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float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
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float32 ocv_estimate # [V] Open circuit voltage estimate
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float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
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float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
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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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@@ -8,6 +8,7 @@
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#include "translation_airspeed_validated_v1.h"
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#include "translation_arming_check_reply_v1.h"
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#include "translation_battery_status_v1.h"
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#include "translation_event_v1.h"
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#include "translation_vehicle_attitude_setpoint_v1.h"
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#include "translation_vehicle_status_v1.h"
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@@ -0,0 +1,114 @@
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/****************************************************************************
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* Copyright (c) 2025 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate BatteryStatus v0 <--> v1
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#include <px4_msgs_old/msg/battery_status_v0.hpp>
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#include <px4_msgs/msg/battery_status.hpp>
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class BatteryStatusV1Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::BatteryStatusV0;
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static_assert(MessageOlder::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::msg::BatteryStatus;
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static_assert(MessageNewer::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "fmu/out/battery_status";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.connected = msg_older.connected;
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msg_newer.voltage_v = msg_older.voltage_v;
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msg_newer.current_a = msg_older.current_a;
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msg_newer.current_average_a = msg_older.current_average_a;
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msg_newer.discharged_mah = msg_older.discharged_mah;
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msg_newer.remaining = msg_older.remaining;
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msg_newer.scale = msg_older.scale;
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msg_newer.time_remaining_s = msg_older.time_remaining_s;
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msg_newer.temperature = msg_older.temperature;
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msg_newer.cell_count = msg_older.cell_count;
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msg_newer.source = msg_older.source;
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msg_newer.priority = msg_older.priority;
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msg_newer.capacity = msg_older.capacity;
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msg_newer.cycle_count = msg_older.cycle_count;
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msg_newer.average_time_to_empty = msg_older.average_time_to_empty;
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// The serial number moved to the battery_info message and is char[32] instead of uint16
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msg_newer.manufacture_date = msg_older.manufacture_date;
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msg_newer.state_of_health = msg_older.state_of_health;
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msg_newer.max_error = msg_older.max_error;
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msg_newer.id = msg_older.id;
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msg_newer.interface_error = msg_older.interface_error;
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for (int i = 0; i < 14; ++i) {
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msg_newer.voltage_cell_v[i] = msg_older.voltage_cell_v[i];
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}
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msg_newer.max_cell_voltage_delta = msg_older.max_cell_voltage_delta;
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msg_newer.is_powering_off = msg_older.is_powering_off;
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msg_newer.is_required = msg_older.is_required;
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msg_newer.warning = msg_older.warning;
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msg_newer.faults = msg_older.faults;
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msg_newer.full_charge_capacity_wh = msg_older.full_charge_capacity_wh;
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msg_newer.remaining_capacity_wh = msg_older.remaining_capacity_wh;
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msg_newer.over_discharge_count = msg_older.over_discharge_count;
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msg_newer.nominal_voltage = msg_older.nominal_voltage;
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msg_newer.internal_resistance_estimate = msg_older.internal_resistance_estimate;
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msg_newer.ocv_estimate = msg_older.ocv_estimate;
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msg_newer.ocv_estimate_filtered = msg_older.ocv_estimate_filtered;
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msg_newer.volt_based_soc_estimate = msg_older.volt_based_soc_estimate;
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msg_newer.voltage_prediction = msg_older.voltage_prediction;
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msg_newer.prediction_error = msg_older.prediction_error;
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msg_newer.estimation_covariance_norm = msg_older.estimation_covariance_norm;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.connected = msg_newer.connected;
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msg_older.voltage_v = msg_newer.voltage_v;
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msg_older.current_a = msg_newer.current_a;
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msg_older.current_average_a = msg_newer.current_average_a;
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msg_older.discharged_mah = msg_newer.discharged_mah;
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msg_older.remaining = msg_newer.remaining;
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msg_older.scale = msg_newer.scale;
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msg_older.time_remaining_s = msg_newer.time_remaining_s;
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msg_older.temperature = msg_newer.temperature;
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msg_older.cell_count = msg_newer.cell_count;
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msg_older.source = msg_newer.source;
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msg_older.priority = msg_newer.priority;
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msg_older.capacity = msg_newer.capacity;
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msg_older.cycle_count = msg_newer.cycle_count;
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msg_older.average_time_to_empty = msg_newer.average_time_to_empty;
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msg_older.serial_number = 0; // The serial number moved to the battery_info message and is char[32] instead of uint16
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msg_older.manufacture_date = msg_newer.manufacture_date;
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msg_older.state_of_health = msg_newer.state_of_health;
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msg_older.max_error = msg_newer.max_error;
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msg_older.id = msg_newer.id;
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msg_older.interface_error = msg_newer.interface_error;
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for (int i = 0; i < 14; ++i) {
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msg_older.voltage_cell_v[i] = msg_newer.voltage_cell_v[i];
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}
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msg_older.max_cell_voltage_delta = msg_newer.max_cell_voltage_delta;
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msg_older.is_powering_off = msg_newer.is_powering_off;
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msg_older.is_required = msg_newer.is_required;
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msg_older.warning = msg_newer.warning;
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msg_older.faults = msg_newer.faults;
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msg_older.full_charge_capacity_wh = msg_newer.full_charge_capacity_wh;
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msg_older.remaining_capacity_wh = msg_newer.remaining_capacity_wh;
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msg_older.over_discharge_count = msg_newer.over_discharge_count;
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msg_older.nominal_voltage = msg_newer.nominal_voltage;
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msg_older.internal_resistance_estimate = msg_newer.internal_resistance_estimate;
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msg_older.ocv_estimate = msg_newer.ocv_estimate;
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msg_older.ocv_estimate_filtered = msg_newer.ocv_estimate_filtered;
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msg_older.volt_based_soc_estimate = msg_newer.volt_based_soc_estimate;
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msg_older.voltage_prediction = msg_newer.voltage_prediction;
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msg_older.prediction_error = msg_newer.prediction_error;
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msg_older.estimation_covariance_norm = msg_newer.estimation_covariance_norm;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(BatteryStatusV1Translation);
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@@ -4,7 +4,7 @@
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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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uint32 MESSAGE_VERSION = 0
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uint32 MESSAGE_VERSION = 1
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uint8 MAX_INSTANCES = 4
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uint64 timestamp # [us] Time since system start
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@@ -29,7 +29,6 @@ uint8 priority # Zero based priority is the connection on the Power Controller V
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uint16 capacity # [mAh] Capacity of the battery when fully charged
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uint16 cycle_count # Number of discharge cycles the battery has experienced
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uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
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uint16 serial_number # Serial number of the battery pack
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uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
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uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
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uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
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