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Andrew Tridgell c03653fb41 AP_Scripting: add CircuitStatus DroneCAN battery driver

maps uavcan.equipment.power.CircuitStatus circuits onto scripting
battery monitor instances, giving per-circuit voltage and current
monitoring from CAN power distribution nodes

2026-08-20 10:35:46 +10:00

2.4 KiB

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DroneCAN CircuitStatus Battery Driver

This driver implements support for the DroneCAN uavcan.equipment.power.CircuitStatus message, mapping individual circuits onto ArduPilot battery monitor instances. This allows per-circuit voltage and current from a CAN power distribution board to be monitored, logged and reported as batteries.

Parameters

The script uses the following parameters:

DCS_NUM_CIRCUITS

The number of CircuitStatus battery monitor instances, up to a maximum of 9. The per-instance DCSx parameters are created based on this value, so a reboot is needed after changing it. Set to 0 to disable the driver.

DCSx_CIRCUIT_ID

The circuit_id in the CircuitStatus message to use for instance x. Set to -1 to disable the instance.

The driver matches on circuit_id alone and ignores which node sent the message, so each circuit_id must be unique across the whole CAN bus. If two nodes publish the same circuit_id then whichever message arrives last wins, and the instance will alternate between the two sources.

DCSx_BATT_IDX

The battery monitor index to feed with data from this circuit. Set to 1 for BATT, 2 for BATT2 etc. The corresponding BATTn_MONITOR parameter must be set to 29 (scripting). Set to 0 to disable the instance.

Operation

This driver should be loaded by placing the lua script in the APM/SCRIPTS directory on the microSD card or in ROMFS. The following key parameters should be set:

SCR_ENABLE should be set to 1
CAN_Px_DRIVER should be set to 1 or 2 to assign the physical CAN port to a CAN driver
CAN_Dn_PROTOCOL should be set to 1 (DroneCAN) for that driver
BATTn_MONITOR should be set to 29 for each battery instance used

then the flight controller should be rebooted and parameters should be refreshed. The DCS_NUM_CIRCUITS parameter will then appear and should be set to the number of circuits to monitor, followed by another reboot. The DCSx_CIRCUIT_ID and DCSx_BATT_IDX parameters will then appear and should be set to map each circuit to a battery monitor. Changes to the circuit mappings take effect without a reboot.

Each configured battery instance reports the voltage and current from the matching circuit. The current is passed through with the sign sent by the device (the DSDL does not define a sign convention). If a circuit reports a non-zero error_flags then a warning is sent to the GCS. If a circuit stops sending data then the battery monitor will be marked unhealthy after 5 seconds.

2.4 KiB Raw Blame History